Dynamic wind resistance system for a flexible stent

Abstract

The application relates to the technical field of wind-induced vibration active control of flexible structures, in particular to a dynamic regulation and control wind resistance system of a flexible support, which comprises the flexible support, two horizontally arranged horizontal cables, and a photovoltaic module fixedly installed between the two cables; an execution structure arranged below the flexible support and connected with the two cables, which outputs control force to the cables according to control instructions; a wind monitoring device for obtaining wind field parameters; a motion monitoring device for obtaining structural motion parameters; and an operation control device for receiving the wind field parameters and the structural motion parameters, combining environmental parameters, a response matrix of frequency domain expression of wind load on each order modal of the flexible support and an optimal control relationship of the execution structure under each order vibration modal of the flexible support when unit control force of the execution structure acts on the flexible support, generating a control force output strategy, and sending corresponding control instructions to the execution structure according to the control force output strategy.

Description

Technical Field

[0001] This application relates to the field of active control technology for wind-induced vibration of flexible structures, and in particular to a dynamic control wind-resistant system for flexible supports. Background Technology

[0002] In the field of photovoltaic power generation systems and flexible structure support, flexible supports are widely used due to their advantages such as convenient installation and strong adaptability to complex terrain. However, flexible supports are subject to wind loads in the natural environment, especially in high-wind-speed areas or seasonal strong wind environments, where photovoltaic modules and support structures will experience significant wind-induced vibrations. This wind-induced vibration not only affects the structural stability and power generation efficiency of photovoltaic modules, but may also lead to fatigue and damage of support materials, and even cause safety accidents. In existing technologies, the control methods for wind-induced vibration of flexible supports mainly rely on passive windproof design, such as increasing the stiffness of support rods, setting dampers, or using reinforced cables. These solutions have the advantages of simple structure and relatively low cost, but they have obvious limitations: First, the design parameters are fixed, making it difficult to dynamically adjust for different wind speeds, wind directions, or sudden wind loads; second, it is difficult to balance the lightweight and wind resistance performance of the support, as increasing stiffness or damping often leads to material waste and installation difficulties; third, passive measures have limited ability to suppress wind vibration response and cannot cope with complex and changing wind field environments in real time. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, this application provides a dynamic wind-resistant system for flexible supports, which solves the technical problem that the prior art mainly relies on passive wind protection design, resulting in the inability of flexible supports to make real-time dynamic adjustments for different wind speeds, wind directions and sudden wind loads.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, embodiments of this application provide a dynamically adjustable wind-resistant system for flexible supports, the system comprising:

[0007] A flexible support structure includes two parallel horizontal cables with preload applied in the installed state, and photovoltaic modules fixedly installed between the two cables. An actuating structure is located below the flexible support structure and connected to each of the two cables. The actuating structure outputs control force to the cables according to control commands received from a computing control device, thereby changing the stress state of the flexible support structure under wind load. A wind monitoring device includes wind field sensors arranged around the flexible support structure to acquire wind field parameters acting on the flexible support structure, including at least wind speed or wind direction. A motion monitoring device is used to acquire structural motion parameters of the flexible support structure, including at least the displacement of the photovoltaic modules within the flexible support structure. The system includes a speed or acceleration; a computational control device for receiving wind field parameters collected by the wind monitoring device and structural motion parameters collected by the motion monitoring device, and combining them with pre-acquired environmental parameters for wind field simulation of the area where the flexible support is located, pre-acquired response matrices of each mode of the flexible support to wind load in the frequency domain, and pre-acquired optimal control relationships when the unit control force of the execution structure acts on the flexible support under each vibration mode of the flexible support, to generate a control force output strategy; the computational control device is also used to send corresponding control commands to the execution structure according to the control force output strategy, so that the execution structure applies corresponding control forces to the cables, thereby realizing dynamic regulation of wind-induced vibration of the flexible support.

[0008] Preferably, in some embodiments of this application, the process of the computational control device generating the control force output strategy of the execution structure includes: performing wind field simulation on the area where the flexible support is located based on pre-acquired environmental parameters and wind field parameters collected by the wind monitoring device to obtain wind load data acting on the flexible support; performing Fourier transform on the wind load data to obtain the frequency domain expression of the wind load data; determining the response results corresponding to each vibration mode of the flexible support based on the frequency domain expression of the wind load data and the pre-acquired frequency domain response matrices of each vibration mode of the flexible support to the wind load; generating the optimal control strategy corresponding to each vibration mode based on the response results corresponding to each vibration mode of the flexible support and the pre-determined optimal control relationship when the unit control force of the execution structure acts on the flexible support under each vibration mode of the flexible support; obtaining the total response result of the flexible support based on the response results corresponding to each vibration mode of the flexible support; determining whether the difference between the total response result of the flexible support and the structural motion parameters monitored by the motion monitoring device is within a preset range, and if the difference is within the preset range, generating the control force output strategy of the execution structure based on the optimal control strategy corresponding to each vibration mode and combined with a preset dissipation strategy.

[0009] Preferably, in some embodiments of this application, the process of determining the frequency domain response matrix of each vibration mode of the flexible support to wind load and the optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode of the flexible support includes: simulating the flexible support based on the inherent structural parameters of the flexible support to obtain a simulation model of the flexible support; performing modal analysis on the simulation model of the flexible support to obtain each vibration mode of the flexible support; obtaining the frequency domain response matrix of each vibration mode of the flexible support to wind load based on the frequency domain expression of wind load data; further, calculating the frequency domain response corresponding to each vibration mode when the unit control force of the actuator acts on the flexible support under each vibration mode of the flexible support, and determining the optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode of the flexible support with the goal of reducing the wind-induced vibration of the flexible support.

[0010] Preferably, in some embodiments of this application, based on the vibration modes of the flexible support, and based on the frequency domain expression of the wind load data, the frequency domain response matrix of the vibration modes of the flexible support to the wind load is obtained. Specifically, this includes: decomposing the frequency domain expression of the wind load data into multiple discrete frequency components; for each discrete frequency component, using a pre-determined modal participation coefficient corresponding to that discrete frequency component, weighting the modal response results of the vibration modes of the flexible support under that discrete frequency component to obtain the frequency domain response vector of the flexible support under the corresponding discrete frequency component; the modal response results are obtained by solving the corresponding modal dynamic equation based on the wind load excitation of the discrete frequency component; under each discrete frequency component, the corresponding frequency domain response vector is used as a column vector to form a matrix unit, and arranged and combined according to the order of the discrete frequency components in the frequency domain expression of the wind load data from low frequency to high frequency to form the frequency domain response matrix of the vibration modes of the flexible support to the wind load with vibration modes as rows and discrete frequency components as columns.

[0011] Preferably, in some embodiments of this application, based on the various vibration modes of the flexible support, the frequency domain response corresponding to each vibration mode when the unit control force of the actuator acts on the flexible support is calculated. With reducing wind-induced vibration of the flexible support as the control objective, the optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode is determined. Specifically, this includes: for each vibration mode of the flexible support, the frequency domain response matrix of each vibration mode of the flexible support to wind load is calculated, and the frequency domain response corresponding to that vibration mode under each discrete frequency component is extracted. The frequency domain response of that vibration mode is the modal frequency domain response result obtained by projecting the effect of the wind load under the corresponding discrete frequency component onto that vibration mode. Based on the frequency domain response corresponding to that vibration mode under each discrete frequency component, the modal response gain vector when the unit control force of the actuator acts on that vibration mode under each discrete frequency component is obtained. ;and, ; K represents the total number of discrete frequency components. Represents the k-th discrete frequency component The modal response gain of the nth vibration mode is calculated by applying the unit control force of the structure. This represents the modal response gain vector when the structural unit control force is applied to the nth vibration mode at each discrete frequency component. The mode shape vector of the nth vibration mode is obtained in advance from the structural parameters of the flexible support through experimental mode identification; T represents the transpose of the vector; B is the control force input matrix of the actuator, which is used to characterize the distribution of the control force applied by the actuator on each degree of freedom of the flexible support; it is determined in advance according to the installation position, direction of action and configuration of the degree of freedom of the actuator on the flexible support; For the nth order vibration mode at the kth discrete frequency component Frequency domain response; This represents the amplitude normalization of the modal response; based on the preset first vibration suppression objective function J, the modal response gain of each vibration mode is combined with the first vibration suppression objective function, and the optimal allocation vector of unit control force for each mode is calculated using the frequency domain optimal control method; wherein, the first vibration suppression objective function is: N represents the total number of modes; the frequency domain optimal control algorithm is either the weighted least squares method or the frequency domain H∞ control method; the optimal allocation vector of unit control force for each mode is frequency-weighted to obtain the weighted optimal allocation vector of unit control force for each mode; the weighted optimal allocation vector of unit control force for each mode is combined in order of mode order to obtain the optimal response relationship matrix of the flexible support under the action of unit control force, and the matrix serves as the optimal control relationship corresponding to each vibration mode.

[0012] Preferably, in some embodiments of this application, the response results corresponding to each vibration mode of the flexible support are determined based on the frequency domain representation of the wind load data and the pre-acquired frequency domain response matrices of each vibration mode of the flexible support to the wind load. Specifically, this includes: performing frequency domain transformation on the collected wind load time domain data and discretizing it according to a pre-set discrete frequency range to obtain the frequency domain wind load vector. ; ; For the corresponding discrete frequency components The wind load frequency amplitude; wherein, the preset discrete frequency range is: Based on the structural parameters of the flexible support and the vibration mode parameters obtained through modal analysis, the frequency domain response functions of each vibration mode of the flexible support to a unit wind load input within the discrete frequency range are pre-calculated, and the frequency domain response matrices of each vibration mode of the flexible support to the wind load are constructed. : ; This represents the i-th order vibration mode at discrete frequency components. The pre-defined frequency domain response function; for each vibration mode, the frequency domain wind load vector... The frequency domain amplitude of the wind load corresponding to each discrete frequency component is multiplied with the frequency domain response function corresponding to each vibration mode of the flexible support in the frequency domain response matrix of the wind load to obtain the frequency domain modal response of each vibration mode under each discrete frequency component. ; This represents the i-th order vibration mode at discrete frequency components. The frequency domain modal response under wind load is obtained by synthesizing the frequency domain modal response of each vibration mode under each discrete frequency component within the specified discrete frequency range for each vibration mode. ; This represents the comprehensive frequency domain modal response result of the i-th vibration mode under wind load; based on the comprehensive frequency domain modal response results of each vibration mode, the modal response energy corresponding to each vibration mode is calculated; ; Let represent the modal response energy corresponding to the i-th vibration mode; and normalize the modal response energy of each vibration mode to obtain the modal participation weights of each vibration mode on the overall wind-induced response of the flexible support; where, ; The modal participation weight of the i-th vibration mode on the overall wind-induced response of the flexible support is represented. Based on the modal participation weight, the comprehensive frequency domain modal response results of each vibration mode are weighted and corrected to obtain the response results of each vibration mode of the flexible support for subsequent dynamic wind resistance control. ; .

[0013] Preferably, in some embodiments of this application, based on the response results corresponding to each vibration mode of the flexible support and the predetermined optimal control relationship when the unit control force of the execution structure acts on the flexible support under each vibration mode, an optimal control strategy corresponding to each vibration mode is generated. Specifically, this includes: based on the modal response results of each vibration mode, and combined with the predetermined optimal control relationship when the unit control force of the execution structure acts on the flexible support under each vibration mode, mapping calculation is performed on the modal response results and the optimal control relationship to obtain the modal response gain when the unit control force of the execution structure acts on that vibration mode; according to the modal response gain of each vibration mode and a predetermined second vibration suppression objective function, the optimal control vector of the unit control force corresponding to each vibration mode is calculated using a frequency domain optimal control method; wherein, the modal response gain G... i The second vibration suppression objective function is used to characterize the equivalent influence of the unit control force of the actuator on the vibration response of the flexible support under the i-th vibration mode. The second vibration suppression objective function is used to minimize the modal vibration residual response of the flexible support under the combined action of the response results of each vibration mode and the control force. The frequency domain optimal control method is either the weighted least squares method or the frequency domain H∞ control method. The optimal control vectors of the unit control force for each vibration mode are combined in order of modal order to form the optimal response relationship matrix of the flexible support under the action of the unit control force. The optimal response relationship matrix is ​​used to characterize the optimal control strategy corresponding to each vibration mode.

[0014] Preferably, in some embodiments of this application, determining whether the difference between the total response result of the flexible support and the structural motion parameters monitored by the motion monitoring device is within a preset range, and if the difference is within the preset range, generating a control force output strategy for the execution structure based on the optimal control strategy corresponding to each vibration mode and combined with a preset dissipation strategy, specifically includes: extracting at least one equivalent structural response parameter to characterize the overall wind-induced vibration level of the flexible support based on the total response result of the flexible support, wherein the equivalent structural response parameter is one or more of displacement, velocity, or acceleration; wherein the total response result of the flexible support is the sum of the response results corresponding to each vibration mode of the flexible support; selecting a measured structural response parameter from the structural motion parameters monitored by the motion monitoring device that has the same physical meaning as the equivalent structural response parameter, and comparing the equivalent structural response parameter with the measured structural response parameter within the same time window; and based on the equivalent structural response parameter and the measured structural response parameter, determining whether the difference between the equivalent structural response parameter and the measured structural response parameter is within a preset range. The method determines whether the difference between the measured structural response parameters is less than a preset response deviation threshold, and whether the difference between the total response result of the flexible support and the real-time monitored structural motion parameters is within a preset range. If the difference is within the preset range, based on the optimal control strategy corresponding to each vibration mode, a dissipation adjustment coefficient is used to dissipate and correct the optimal control strategy for each vibration mode, resulting in the dissipated optimal control strategy for each vibration mode. The dissipation adjustment coefficient is a pre-calculated frequency weight coefficient related to the damping characteristics and discrete frequency components of the vibration mode. The dissipation adjustment coefficient is used to multiply each discrete frequency component in the modal control vector by the corresponding dissipation adjustment coefficient to adjust the control force output ratio of each vibration mode. Based on the dissipated optimal control strategy for each vibration mode, a control force output strategy for the execution structure under the current wind load condition is generated, and corresponding control commands are sent to the execution structure to realize the dynamic control of wind-induced vibration of the flexible support.

[0015] Preferably, in some embodiments of this application, the optimal control strategy corresponding to each vibration mode is dissipated and corrected based on the dissipation adjustment coefficient. Specifically, this includes: for each vibration mode, representing the optimal control strategy corresponding to that vibration mode as a modal control vector, and performing a weighted operation on the modal control vector and the dissipation adjustment coefficient of that vibration mode at the corresponding discrete frequency to obtain the dissipation correction control vector of that vibration mode; combining the dissipation correction control vectors corresponding to each vibration mode according to the modal order to form the optimal control strategy of each vibration mode after dissipation correction, which is used to generate the control force output strategy of the execution structure.

[0016] Preferably, in some embodiments of this application, the execution structure includes: two retractable hydraulic drive rods, each hydraulic drive rod including a hydraulic cylinder and a piston rod, the end of the piston rod being connected to the cable of the flexible support via a rigid connector; a mass block, fixed to the lower end of the hydraulic rods by an elastic or rigid support, suspended below the cable of the flexible support to provide an inertial load; wherein, the hydraulic cylinder of each hydraulic drive rod is connected to a hydraulic valve controlled by a computing control device via a pipeline, for receiving control commands and driving the piston rod to extend or retract, thereby applying a controllable tension to the cable; or, the execution structure includes: four retractable hydraulic drive rods, one end of each hydraulic drive rod being fixedly connected to the cable of the flexible support, and the other end being fixed to the ground via a foundation support; each hydraulic drive rod including a hydraulic cylinder and a piston rod, and connected to a computing control device via a hydraulic valve, for driving extension or retraction according to control commands, thereby applying a controllable tension to the flexible support.

[0017] (III) Beneficial Effects

[0018] The dynamic wind-resistant system for flexible supports provided in this application embodiment, by setting up an execution structure connected to the cable of the flexible support, applies control force to the cable in real time according to the control force output strategy generated by the computational control device, thereby changing the stress state of the flexible support under wind load. A wind monitoring device acquires wind field parameters such as wind speed or direction around the flexible support, and a motion monitoring device acquires structural motion parameters such as displacement, velocity, or acceleration of the photovoltaic modules. The computational control device combines the pre-acquired frequency domain response matrix of each mode of the flexible support to wind load and the optimal control relationship of the unit control force of the execution structure under each vibration mode to generate a control force output strategy and send commands to the execution structure. Through this strategy, the execution structure can adjust the control force applied to the cable in real time under different wind speeds, wind directions, and sudden wind loads, effectively suppressing the response of each vibration mode of the flexible support. This application's system utilizes modal analysis and frequency-domain optimal control methods, combining the frequency-domain expression of wind load to decompose the vibration modes of each order of the flexible support, and calculates the modal response gain of the unit control force of the executing structure for each order of modes, thereby generating the optimal control strategy corresponding to each vibration mode. By applying this control strategy, dynamic regulation of multiple vibration modes of the flexible support can be achieved, effectively controlling the displacement, velocity, and acceleration of the flexible support under wind load, reducing the risk of material fatigue and structural damage. Simultaneously, this method does not require increasing support stiffness or installing dampers, avoiding the inherent limitations of passive wind protection measures, such as fixed structural stiffness and difficulty in dynamically adapting to changes in wind load. Attached Figure Description

[0019] Figure 1 This is a schematic diagram showing the positional structure of the flexible support, the actuator, and the wind monitoring device in a dynamic control wind-resistant system according to an embodiment of this application.

[0020] Figure 2 This is a schematic diagram showing the position and structure of the flexible support, the actuator, and the wind monitoring device in a dynamic control wind-resistant system according to another embodiment of this application. Detailed Implementation

[0021] To better explain and facilitate understanding of this application, the following detailed description of the application is provided in conjunction with the accompanying drawings and specific embodiments.

[0022] In the field of photovoltaic power generation systems and flexible supports, existing technologies for wind-induced vibration control of flexible supports mainly rely on passive wind protection design, such as increasing the stiffness of support rods, installing dampers, or reinforcing cables to improve the structure's wind resistance. However, this type of passive wind protection solution has significant limitations: First, the structural parameters of passive wind protection design are fixed, making it difficult to adjust in real time according to changes in wind speed, wind direction, and sudden wind loads, which may lead to excessive displacement, velocity, or acceleration of the flexible support under complex wind field conditions; Second, reinforcing the support or installing additional components to increase stiffness or damping increases material consumption and construction difficulty, making it difficult to balance the lightweight support with ease of construction; Third, passive measures cannot effectively control the multi-mode vibration of flexible supports, and their ability to suppress wind vibration responses of different modes is limited. Especially in high wind speed or seasonal strong wind environments, excessive vibration of photovoltaic modules, fatigue or damage to support materials may still occur, posing safety hazards. To address the aforementioned issues, this application provides a dynamic wind-resistant control system for flexible supports. By connecting an execution structure to the cables of the flexible support and integrating a computational control device, a wind monitoring device, and a motion monitoring device, real-time control of wind-induced vibrations of the flexible support is achieved. Specifically, the computational control device receives wind field parameters such as wind speed and direction collected by wind field sensors, and structural motion parameters such as displacement, velocity, or acceleration of photovoltaic modules collected by the motion monitoring device. Combining this with pre-acquired frequency domain response matrices of the flexible support's various vibration modes to wind loads and the optimal control relationship under a unit control force of the execution structure, a control force output strategy for each vibration mode is generated. This strategy is then sent to the execution structure, causing it to apply corresponding control forces to the cables in real time, thereby changing the stress state of the flexible support and suppressing vibrations.

[0023] Compared with existing technologies, the technical solution of this application can dynamically adjust the control force according to real-time wind field parameters and the motion state of the flexible support structure, realizing an instantaneous response to different wind speeds, wind directions, and sudden wind loads. It effectively suppresses the wind-induced response of multiple vibration modes of the flexible support, avoiding the limitations of passive design that simply increases support stiffness or installs dampers, while also considering structural lightweighting and ease of construction. Simultaneously, the system uses modal decomposition and frequency domain optimal control methods to make the distribution of control force on the execution structure more reasonable, improving the suppression effect of wind-induced vibration of the flexible support, reducing the displacement, velocity, and acceleration of photovoltaic modules and the support structure, and enhancing the overall structural stability and service life. This overcomes the technical problem of existing technologies that cannot dynamically regulate real-time wind loads.

[0024] like Figure 1 and Figure 2 As shown, the dynamic wind-resistant adjustment system of the flexible support in this embodiment includes:

[0025] A flexible support 1 includes two parallel horizontal cables, which are pre-tensioned in the installed state, and photovoltaic modules are fixedly installed between the two cables. An actuating structure 2 is located below the flexible support and connected to both cables. The actuating structure outputs control force to the cables according to control commands received from a computing control device, thereby changing the stress state of the flexible support under wind load. A wind monitoring device 3 includes wind field sensors arranged around the flexible support to acquire wind field parameters acting on the flexible support, the wind field parameters including at least wind speed or wind direction. A motion monitoring device is used to acquire structural motion parameters of the flexible support, the structural motion parameters including at least the wind speed or wind direction. The flexible support includes one of the following: displacement, velocity, or acceleration of the photovoltaic module. A computational control device receives wind field parameters collected by the wind monitoring device and structural motion parameters collected by the motion monitoring device. It then combines these with pre-acquired environmental parameters used for wind field simulation of the flexible support area, pre-acquired frequency domain response matrices of each mode of the flexible support to wind load, and pre-acquired optimal control relationships when the unit control force of the execution structure acts on the flexible support under each vibration mode of the flexible support, to generate a control force output strategy. The environmental parameters used for wind field simulation of the flexible support area include at least wind speed, wind direction, air density, ground roughness, and wind turbulence intensity. The computational control device also sends corresponding control commands to the execution structure according to the control force output strategy, causing the execution structure to apply a corresponding control force to the cable, thereby achieving dynamic control of the wind-induced vibration of the flexible support.

[0026] In this embodiment, the wind monitoring device and motion monitoring device can acquire wind field parameters and structural motion state parameters acting on the flexible support, respectively. These real-time acquired data serve as control inputs, providing the basis for the computational control device to generate control force output strategies. The computational control device combines wind field simulation parameters, the frequency domain response matrices of each mode of the flexible support, and the optimal control relationship when the execution structure acts on each mode to achieve accurate calculation and output of the control force. This control logic employs a modal control method, decomposing structural vibration into modes and applying optimized control forces to each mode, effectively suppressing wind-induced vibrations of the flexible support. Under wind load, the execution structure can apply adjustment forces in real time, keeping the vibration amplitude and frequency of the flexible support within a safe range, thereby reducing stress concentration and mechanical impact on the photovoltaic modules and extending the service life of the modules and support. Simultaneously, by combining environmental parameters such as wind speed, wind direction, air density, ground roughness, and wind turbulence intensity, the system can achieve dynamic regulation under complex wind field conditions, improving the adaptability and stability of the flexible support in actual operating environments. The computational control device, based on the rapid response capability of modal response and optimal control strategy, enables the system to quickly adjust the structural stress state in response to sudden changes in wind load and gusts, achieving high-precision control.

[0027] Preferably, in some embodiments of this application, the process of the computational control device generating the control force output strategy of the execution structure includes: performing wind field simulation on the area where the flexible support is located based on pre-acquired environmental parameters and wind field parameters collected by the wind monitoring device to obtain wind load data acting on the flexible support; performing Fourier transform on the wind load data to obtain the frequency domain expression of the wind load data; this step can transform the complex and random wind load into various frequency components, which is convenient for analyzing the response of different vibration modes to wind loads of specific frequencies. Based on the frequency domain expression of the wind load data and the pre-acquired frequency domain response matrix of each vibration mode of the flexible support to the wind load, the response results corresponding to each vibration mode of the flexible support are determined; this process conforms to the modal superposition principle, that is, the response of the overall structure can be decomposed into the superposition of each mode, ensuring that the control strategy is targeted at each major vibration mode of the structure. Based on the response results of each vibration mode of the flexible support and the predetermined optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode, the optimal control strategy corresponding to each vibration mode is generated. Based on the response results of each vibration mode, the total response result of the flexible support is obtained. It is then determined whether the difference between the total response result and the structural motion parameters monitored by the motion monitoring device is within a preset range. If the difference is within the preset range, a control force output strategy for the actuator is generated based on the optimal control strategy for each vibration mode and a preset dissipation strategy. In this embodiment, the system superimposes the response results of each vibration mode to obtain the total response of the flexible support and determines whether the difference between the total response and the structural motion parameters actually collected by the motion monitoring device is within a preset range. This closed-loop feedback design ensures the real-time performance and accuracy of the control strategy, dynamically adjusts the control force applied by the actuator, compensates for the error between simulation prediction and actual wind load, and achieves precise control. Combining the preset dissipation strategy to generate the final control force output strategy can effectively mitigate vibration energy accumulation and improve the safety and durability of the structure and photovoltaic modules. The process of determining the frequency domain response matrices of each vibration mode of the flexible support to wind load, and the optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode, includes: simulating the flexible support based on its inherent structural parameters to obtain a simulation model; these inherent structural parameters refer to the parameters that enable the simulation of the flexible support. The inherent structural parameters include at least the geometric parameters, material parameters, and preload parameters of the cables, as well as the geometric dimensions, mass parameters, and installation position parameters of the photovoltaic modules. Modal analysis is then performed on the simulation model of the flexible support to obtain its vibration modes.This approach aligns with structural dynamics principles. Through modal decomposition, the complex vibration response of a structure can be broken down into several independently analyzable vibration modes, allowing for precise quantification of the response characteristics of each mode in frequency space. This method has been widely applied in wind-induced vibration control of bridges, cable-membrane structures, and flexible towers.

[0028] Based on the vibration modes of the flexible support, the frequency domain response matrix of each vibration mode of the flexible support to the wind load is obtained based on the frequency domain expression of the wind load data. In this embodiment, through frequency domain analysis, the sensitivity of different vibration modes to each frequency component of the wind load can be identified, so that the control strategy can be precisely adjusted for the main excitation frequency.

[0029] Furthermore, based on the vibration modes of the flexible support, the frequency domain response of each vibration mode is calculated when the unit control force of the actuator is applied to the flexible support. With the goal of reducing wind-induced vibration of the flexible support, the optimal control relationship is determined when the unit control force of the actuator is applied to the flexible support under each vibration mode. By applying the optimal control force selectively, the response of each vibration mode is maximally suppressed, thereby reducing the structural vibration amplitude. This method ensures that active control neither over-applies force nor ignores key vibration modes, guaranteeing control accuracy and structural safety.

[0030] In this embodiment, based on the vibration modes of the flexible support, and using the frequency domain expression of wind load data, the frequency domain response matrix of each vibration mode of the flexible support to wind load is obtained. Specifically, this includes: decomposing the frequency domain expression of the wind load data into multiple discrete frequency components; for each discrete frequency component, using a pre-determined modal participation coefficient corresponding to that discrete frequency component, weighting the modal response results of each vibration mode of the flexible support at that discrete frequency component to obtain the frequency domain response vector of the flexible support at the corresponding discrete frequency component; in this embodiment, using a pre-determined modal participation coefficient corresponding to that frequency, weighting the modal response of each vibration mode of the flexible support at that frequency to obtain the frequency domain response vector at the corresponding frequency. This process conforms to the modal superposition principle, that is, the total structural response can be regarded as a linear superposition of the modal responses of each order, and different modes have different responses to wind loads at different frequencies. Through weighting, the contributions of low-order and high-order modes in the wind load spectrum can be accurately reflected, thereby achieving precise quantification of key modes. The weighted modal response results are obtained by solving the corresponding modal dynamic equations, ensuring the physical reliability and computability of the response results. The modal response results are obtained by solving the corresponding modal dynamic equations based on the wind load excitation of the discrete frequency components; wherein the modal parameter coefficients are determined by formula (1); formula (1) is: ;in, The natural angular frequency of the nth vibration mode is obtained through modal analysis or experimental modal identification based on the structural parameters of the flexible support. The preset damping ratio for the corresponding mode; These are the discrete frequency components in the frequency domain representation of wind load data. To the discrete frequency components The corresponding modal participation coefficients; this formula can accurately reflect the different frequency components in the nth mode. The degree of participation in the modal response, especially the participation coefficient which increases significantly near the resonant frequency, is consistent with physical laws. The modal participation coefficient calculated using this formula... It can be used as a weighting factor for modal contributions in the frequency domain for subsequent response synthesis and control allocation. Furthermore, the formula has a clear structure and is easy to calculate, facilitating rapid online modal parameter estimation and response reconstruction in real-time control systems. Secondly, by introducing a preset modal damping ratio... This modal parameter coefficient can flexibly reflect the damping characteristics of different modes, making the calculation of the participation coefficient more consistent with the actual structural dynamic behavior. Furthermore, this coefficient can be used for frequency domain decomposition and mode screening of wind-induced vibration response, highlighting dominant modes and suppressing secondary modes, thereby improving the targeting and efficiency of subsequent wind-resistant control strategies. Overall, this modal parameter coefficient provides a reliable theoretical tool for quantifying modal contributions from a frequency domain perspective, enhancing the adaptability and robustness of the control system under complex wind loads.

[0031] For each discrete frequency component, the corresponding frequency domain response vector is used as a column vector to form a matrix unit. These units are arranged and combined according to the order of the discrete frequency components in the frequency domain representation of the wind load data from low to high frequency, forming a frequency domain response matrix of the flexible support for each vibration mode to wind load, with vibration modes as rows and discrete frequency components as columns. This matrix structure is complete and ordered, systematically describing the response characteristics of the flexible support to wind loads of different frequencies under each vibration mode, providing a precise basis for subsequently generating the optimal control strategy for the execution structure. This matrix representation method not only theoretically meets the analytical requirements of structural dynamics and modal control, but also possesses high operability in engineering practice, enabling precise adjustment of the control strategy for the main vibration modes and key wind load frequencies.

[0032] Preferably, in the practical application of this application, based on the various vibration modes of the flexible support, the frequency domain response corresponding to each vibration mode when the unit control force of the actuator acts on the flexible support is calculated. With reducing wind-induced vibration of the flexible support as the control objective, the optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode is determined. Specifically, this includes: for each vibration mode of the flexible support, the frequency domain response matrix of each vibration mode of the flexible support to wind load is calculated, and the frequency domain response corresponding to that vibration mode under each discrete frequency component is extracted. The frequency domain response of that vibration mode is the modal frequency domain response result obtained by projecting the wind load at the corresponding discrete frequency component onto that vibration mode. Based on the frequency domain response corresponding to that vibration mode under each discrete frequency component, the modal response gain vector when the unit control force of the actuator acts on that vibration mode under each discrete frequency component is obtained. ;and, ; ; Represents the k-th discrete frequency component The modal response gain of the nth vibration mode is calculated by applying the unit control force of the structure. This represents the modal response gain vector when the structural unit control force is applied to the nth vibration mode at each discrete frequency component. The mode shape vector of the nth vibration mode is obtained in advance from the structural parameters of the flexible support through experimental mode identification; T represents the transpose of the vector; B is the control force input matrix of the actuator, which is used to characterize the distribution of the control force applied by the actuator on each degree of freedom of the flexible support; it is determined in advance according to the installation position, direction of action and configuration of the degree of freedom of the actuator on the flexible support; This represents the frequency domain response of the nth vibration mode at the kth discrete frequency component. This represents the amplitude normalization of the modal response; This reflects the projection relationship between the control force distribution and the mode shape, demonstrating the spatial matching degree of the control input to the nth mode. The structured definition of the control force input matrix B ensures the accuracy of the mapping between the force input and the structural degrees of freedom, while the mode shape vectors obtained based on experimental or numerical modal identification... This ensures the reliability of modal information. The gain coefficient effectively identifies the frequency points at which the control force has the most significant excitation effect on the target mode, thus providing a crucial basis for the formulation of subsequent frequency domain control strategies. This formula provides a quantitative method for frequency-varying modal gain, which can systematically evaluate the activation capability of the control force on each mode at different frequencies, avoiding control energy dispersion or application to ineffective modes. Secondly, normalization processing makes the gain coefficient comparable and interpretable, facilitating its use as a weighting factor in control algorithms for multimodal coordination and allocation. Based on the preset first vibration suppression objective function J, the modal response gain of each vibration mode is combined with the first vibration suppression objective function, and the optimal allocation vector of unit control force for each mode is calculated using the frequency domain optimal control method; wherein, the first vibration suppression objective function is: ; This represents the nth mode in discrete frequency components. The frequency domain response is given by N, where N is the total number of modes and K is the total number of discrete frequency components. The frequency domain optimal control algorithm is either weighted least squares or frequency domain H∞ control. In this embodiment, the first vibration suppression objective function comprehensively reflects the overall vibration level of the structure under broadband excitation, which aligns with the fundamental goal of vibration suppression. In this embodiment, during the calculation process, combined with the first vibration suppression objective function, weighted least squares or frequency domain H∞ control is used for frequency domain optimal control and weighting. This ensures that the main modal vibrations are effectively suppressed while optimizing the allocation of responses to different frequency components. This means that the control force applied to the structure can not only reduce the dominant vibrations of low-order modes but also moderately suppress the local vibrations of high-order modes, thereby reducing the overall vibration amplitude and stress concentration of the flexible support. Through weighting and modal sequence combination, the obtained optimal response relationship matrix can systematically describe the optimal control effect of the flexible support under a unit control force, making the control strategy operable and robust in practical applications.

[0033] Specifically, in this embodiment, formula (2) is used to perform frequency weighting on the optimal allocation vector of unit control force for each modality, so as to obtain the weighted optimal allocation vector of unit control force for each modality; the formula (2) is: ;in, The preset first adjustment coefficient; The second adjustment coefficient is preset; To the discrete frequency components The optimal allocation vector of unit control force for the corresponding mode; To the discrete frequency components The corresponding weighted modal unit control force optimal allocation vector; Reflects and The degree of relative offset. When near When the frequency is close to zero, the term approaches zero, and the weight is close to 1, meaning that control allocation is preserved or even enhanced near the resonance frequency. When the frequency is far from resonance, the term increases, and the weight decreases, thereby suppressing unnecessary control energy input in the non-resonance region, which conforms to the principle of "focusing on suppressing resonance response" in vibration control. The second term in the denominator... The influence of damping ratio is introduced. Modes with larger damping have stronger vibration attenuation capabilities and require relatively smaller control forces. Therefore, this term can be used to reduce their control weight accordingly, achieving a reasonable allocation of control resources. Formula (2) is a dimensionless positive real number, which can maintain the original control vector. The direction remains unchanged; only the amplitude is scaled. The mathematical expression is rigorous and easy to implement. This is achieved by adjusting the coefficients. and This allows for a flexible balance between frequency selectivity and damping compensation. For example, The value ranges from 2 to 5 to control the decay rate of the control force outside the resonance zone; The value ranges from 0.5 to 2 to reasonably reflect the differences in control requirements for different damping modes. This weighted method effectively avoids the dispersion of control energy, concentrating the control force on the frequencies and modes that contribute significantly to vibration, thereby reducing the energy consumption and amplitude of the actuator while ensuring vibration reduction.

[0034] The weighted optimal allocation vectors of unit control force for each mode are combined in modal order to obtain the optimal response matrix of the flexible support under unit control force. This matrix serves as the optimal control relationship for each vibration mode. In this embodiment, the optimal response matrix of the flexible support under unit control force can systematically describe the coordinated response characteristics of each vibration mode under control force. This matrix not only integrates the optimal control information of low-order and high-order modes but also retains the weighted response characteristics of each mode at different frequency components, enabling the control strategy to comprehensively optimize the vibration state of the entire structure. Through this matrix, the computational control device can quickly calculate the comprehensive control force required to be applied to the structure during actual operation, ensuring that the vibration of each mode is effectively suppressed within the target range.

[0035] In this embodiment, based on the frequency domain representation of wind load data and the pre-acquired frequency domain response matrices of each vibration mode of the flexible support to wind load, the response results corresponding to each vibration mode of the flexible support are determined. This includes: performing frequency domain transformation on the collected wind load time domain data and discretizing it according to a pre-set discrete frequency range to obtain the frequency domain wind load vector. ; ; For the corresponding discrete frequency components The wind load frequency amplitude; wherein, the preset discrete frequency range is: Based on the structural parameters of the flexible support and the vibration mode parameters obtained through modal analysis, the frequency domain response functions of each vibration mode of the flexible support to a unit wind load input within the discrete frequency range are pre-calculated, and the frequency domain response matrices of each vibration mode of the flexible support to the wind load are constructed. : ; This represents the i-th order vibration mode at discrete frequency components. The pre-defined frequency domain response function; This is used to represent the flexible support, considering only the i-th order vibration mode, for unit amplitude and corresponding discrete frequency components. The steady-state response characteristics generated by harmonic wind load excitation are described. The frequency domain response function is pre-calculated using the structural parameters of the flexible support and modal parameters such as the natural frequency, damping ratio, and mode shape of the i-th vibration mode. Its value reflects the amplification or attenuation relationship of the external load to the corresponding frequency of that vibration mode. By employing the frequency domain response function under discrete frequency components, the response capability of each vibration mode to different frequency components of wind load can be quantitatively described in the frequency domain, providing a foundation for subsequent modal response calculations and modal superposition analysis.

[0036] For each vibration mode, the frequency domain wind load vector is... The frequency domain amplitude of the wind load corresponding to each discrete frequency component is multiplied with the frequency domain response function corresponding to each vibration mode of the flexible support in the frequency domain response matrix of the wind load to obtain the frequency domain modal response of each vibration mode under each discrete frequency component. ; This represents the i-th order vibration mode at discrete frequency components. The frequency domain modal response is analyzed. This embodiment follows the principle of modal superposition in structural dynamics, decomposing the time-domain wind load into frequency domain components via Fourier transform, effectively revealing the frequency composition of the load. Furthermore, it incorporates a pre-established frequency domain response matrix. The elements in this matrix The steady-state response characteristics of the i-th mode to a unit amplitude harmonic load are accurately characterized. Its derivation, based on the frequency response function in modal coordinates, has a solid theoretical foundation. This is achieved through product operations. It can accurately obtain the linear response of each mode at each excitation frequency, which conforms to the analysis paradigm of frequency domain linear time-invariant systems.

[0037] For each vibration mode, the frequency domain modal response of that vibration mode under each discrete frequency component within the specified discrete frequency range is synthesized to obtain the comprehensive frequency domain modal response result of that vibration mode under wind load; wherein... ; This represents the comprehensive frequency domain modal response result of the i-th vibration mode under wind load; based on the comprehensive frequency domain modal response results of each vibration mode, the modal response energy corresponding to each vibration mode is calculated; ; Let represent the modal response energy corresponding to the i-th vibration mode; and normalize the modal response energy of each vibration mode to obtain the modal participation weights of each vibration mode on the overall wind-induced response of the flexible support; where, ; The modal participation weight of the i-th vibration mode on the overall wind-induced response of the flexible support is represented. Based on the modal participation weight, the comprehensive frequency domain modal response results of each vibration mode are weighted and corrected to obtain the response results of each vibration mode of the flexible support for subsequent dynamic wind resistance control. ; .

[0038] Preferably, in some embodiments of this application, based on the response results corresponding to each vibration mode of the flexible support and the predetermined optimal control relationship when the unit control force of the execution structure acts on the flexible support under each vibration mode, an optimal control strategy corresponding to each vibration mode is generated, including: based on the modal response results of each vibration mode, and combined with the predetermined optimal control relationship when the unit control force of the execution structure acts on the flexible support under each vibration mode, mapping calculation is performed on the modal response results and the optimal control relationship to obtain the modal response gain when the unit control force of the execution structure acts on the vibration mode; according to the modal response gain of each vibration mode and the predetermined second vibration suppression objective function, the optimal control vector of the unit control force corresponding to each vibration mode is calculated using the frequency domain optimal control method; wherein, the modal response gain G i This is used to characterize the equivalent influence of the unit control force of the execution structure on the vibration response of the flexible support in the i-th vibration mode; wherein, the second vibration suppression objective function is used to minimize the modal vibration residual response of the flexible support under the combined action of the response results of each vibration mode of the flexible support and the control force; the pre-set second vibration suppression objective function is: The objective is to minimize F. The modal response gain when the structural unit control force is applied to the i-th vibration mode; Let be the control vector of the unit control force corresponding to the i-th vibration mode; where the optimal control vector of the unit control force is the optimal solution of the unit control force control vector under the meaning of the second vibration suppression objective function; the second vibration suppression objective function is used to minimize the modal vibration residual response of each vibration mode of the flexible support in the frequency domain by calculating the residual between the comprehensive response result of each vibration mode of the flexible support and the modal response change under the applied unit control force. Specifically, the second vibration suppression objective function is based on the current comprehensive response result of each vibration mode of the flexible support, combined with the response gain of each mode to the unit control force of the actuator, to calculate the optimal unit control force control vector, so that the residual vibration amplitude of each mode after the control action is minimized, thereby achieving the optimized suppression of the overall wind-induced vibration of the flexible support. The optimal control method in the frequency domain is the weighted least squares method or the frequency domain H∞ control method;

[0039] The optimal control vectors of each vibration mode per unit control force are combined in order of modal order to form the optimal response relationship matrix of the flexible support under the action of unit control force. The optimal response relationship matrix is ​​used to characterize the optimal control strategy corresponding to each vibration mode.

[0040] This embodiment achieves refined, modal-specific control of the wind-induced vibration response of the flexible support by incorporating the optimal control relationship of the unit control force of the actuator under each vibration mode based on the response results of each vibration mode of the flexible support. Compared to treating the flexible support as a single dynamic system for unified control, this scheme decomposes the wind-induced vibration response into individual vibration modes and characterizes the equivalent effect of the unit control force of the actuator under different vibration modes through modal response gain, thereby accurately reflecting the transmission characteristics and control efficiency of the control force in the modal space. Furthermore, by constructing a second vibration suppression objective function aimed at minimizing the modal vibration residual response and solving for the optimal control vector of the unit control force in the frequency domain, the allocation of control force not only considers the response state of each vibration mode under the current wind load but also comprehensively weighs the suppression effect of the control action on different modes, effectively avoiding ineffective or excessive control of modes that contribute little to control or are insensitive to the system. Furthermore, the optimal control vectors of the unit control force for each vibration mode are combined in order of modal order to form an optimal response relationship matrix, enabling the execution structure to implement multimodal collaborative control based on this matrix, thereby achieving coordinated suppression of wind-induced vibration of the flexible support at the overall level.

[0041] In this embodiment, it is determined whether the difference between the total response result of the flexible support and the structural motion parameters monitored by the motion monitoring device is within a preset range. If the difference is within the preset range, a control force output strategy for the execution structure is generated based on the optimal control strategy corresponding to each vibration mode and combined with a preset dissipation strategy. Specifically, this includes: extracting at least one equivalent structural response parameter to characterize the overall wind-induced vibration level of the flexible support based on the total response result of the flexible support, wherein the equivalent structural response parameter is one or more of displacement, velocity, or acceleration; wherein the total response result of the flexible support is the sum of the response results corresponding to each vibration mode of the flexible support; and selecting the measured structural response that is consistent with the physical meaning of the equivalent structural response parameter from the structural motion parameters monitored by the motion monitoring device. The parameters are calculated, and the equivalent structural response parameters and the measured structural response parameters are numerically compared within the same time window. Based on whether the difference between the equivalent structural response parameters and the measured structural response parameters is less than a pre-set response deviation threshold, it is determined whether the difference between the total response result of the flexible support and the real-time monitored structural motion parameters is within a preset range. If the difference is determined to be within the preset range, based on the optimal control strategy corresponding to each vibration mode, a dissipation adjustment coefficient is used to dissipate and correct the optimal control strategy corresponding to each vibration mode, resulting in the dissipated optimal control strategy for each vibration mode. The mode dissipation adjustment coefficient is a pre-calculated frequency weighting coefficient related to the vibration mode damping characteristics and discrete frequency components. ,satisfy: This coefficient formula is directly derived from the amplitude ratio of damping force to elastic force in the frequency response function of a single-degree-of-freedom system. (Molecular) Characterizes the system at frequency The dissipative force component caused by damping is given below, while the denominator is the total system response amplitude (the same as the denominator of the frequency response function). Therefore, Essentially, it reflects the frequency of the nth mode. At this point, the relative contribution of the damping dissipation mechanism to the total dynamic response is indicated. Its value ranges from 0 to 1, near the resonant frequency (where...). ≈ The value approaches 1, indicating a significant damping effect; it decreases as the resonance distance increases, consistent with the physical understanding that damping has the most significant suppression effect in the resonance region. This formula is a dimensionless scalar with a rigorous mathematical form, consistent with classical structural dynamics theory. Using it as a weighting coefficient to dissipate and correct the optimal control strategy is equivalent to introducing a damping compensation element related to modes and frequencies into the control law. The dissipation adjustment coefficient is used to multiply each discrete frequency component in the modal control vector by its corresponding dissipation adjustment coefficient to adjust the control force output ratio of each vibration mode. Based on the optimal control strategy of each vibration mode after dissipation correction, a control force output strategy for the executing structure under the current wind load condition is generated, and corresponding control commands are sent to the executing structure to achieve dynamic control of wind-induced vibration of the flexible support. By extracting equivalent structural response parameters such as displacement, velocity, or acceleration from the total response result of the flexible support and comparing them with the measured structural response parameters obtained by the motion monitoring device within the same time window, the deviation between the model calculation results and the actual structural response can be verified in real time. When the difference between the two is within a preset range, it indicates that the current wind load identification, modal response calculation, and control strategy generation process has high reliability, thus providing a reliable basis for subsequent control force output. Simultaneously, this judgment mechanism avoids directly outputting control force in cases of model mismatch, measurement anomalies, or sudden external disturbances, improving the robustness of the overall system control decision. Under the premise of confirming the consistency between the theoretical response and the measured response, this embodiment further incorporates a preset dissipation strategy to perform dissipation correction on the optimal control strategy corresponding to each vibration mode. By introducing a modal dissipation adjustment coefficient related to the vibration mode damping characteristics and discrete frequency components, the modal control vector is weighted and adjusted in the frequency domain, making the control force output more consistent with the dynamic response law of the flexible support under actual structural damping and energy dissipation conditions. This method avoids applying excessive control force in high-frequency or high-damping modes while ensuring effective suppression of low-damping, dominant wind-induced vibration modes, thereby improving the overall vibration attenuation effect without increasing control energy consumption. Furthermore, by generating a control force output strategy for the actuator under the current wind load condition through optimal control strategies for each vibration mode after dissipation correction, the control force is coordinated and distributed in both the modal and frequency domains. This helps suppress multimodal coupled vibrations and reduce the residual vibration energy of the structure. This dynamic control method not only improves the smoothness and stability of the actuator's control force output but also enhances the system's adaptability to changes in wind speed, wind direction, and spectral characteristics, thereby achieving safe, reliable, and efficient suppression of wind-induced vibrations in the flexible support.

[0042] In this embodiment, the optimal control strategy corresponding to each vibration mode is dissipated and corrected based on the dissipation adjustment coefficient. Specifically, this includes: for each vibration mode, representing the optimal control strategy corresponding to that vibration mode as a modal control vector, and performing a weighted operation on the modal control vector and the dissipation adjustment coefficient of that vibration mode at the corresponding discrete frequency to obtain the dissipation-corrected control vector of that vibration mode; combining the dissipation-corrected control vectors corresponding to each vibration mode according to the modal order to form the dissipation-corrected optimal control strategy for each vibration mode, which is used to generate the control force output strategy of the execution structure. Specifically, under different vibration modes and different discrete frequency components, the structural damping level, energy transfer efficiency, and vibration attenuation capability of the flexible support are significantly different. Directly adopting the uncorrected modal optimal control strategy can easily generate control force redundancy in high-frequency or high-damping modes, and may even cause local vibration amplification or control instability problems. By weighting the modal control vectors with the dissipation adjustment coefficients at the corresponding discrete frequencies, the distribution ratio of control force in the frequency domain can be rationally adjusted according to the dissipation capability of each vibration mode at different frequencies, thereby effectively suppressing ineffective control inputs in non-critical frequency bands. Furthermore, the dissipation-corrected control vectors corresponding to each vibration mode are combined according to modal order to form an overall optimal control strategy after dissipation correction, ensuring the continuity and coordination of the control force output of the actuator within the modal space. This combination method avoids excessive dominance of the system response by a single modal control force, reduces the risk of control conflicts under multimodal coupling conditions, and facilitates the orderly attenuation of the overall vibration energy of the flexible support. Especially under conditions of wide wind load spectrum or frequent changes in operating conditions, this dissipation correction mechanism can dynamically balance control effect and system stability, improving the adaptability of the control strategy to complex wind-induced excitations. Furthermore, generating the control force output strategy of the actuator through the dissipation-corrected modal control strategy helps to reduce the instantaneous output amplitude and energy consumption of the actuator while ensuring the suppression effect of wind-induced vibration, thereby reducing the mechanical fatigue of the actuator and the long-term operating load of the control system, thus improving the engineering reliability and service life of the flexible support wind-resistant control system.

[0043] In this embodiment, see Figure 1 The execution structure 2 includes: two retractable hydraulic drive rods, each including a hydraulic cylinder and a piston rod, the end of the piston rod being connected to the cable of the flexible support via a rigid connector; a mass block, fixed to the lower end of the hydraulic rods by an elastic or rigid support, suspended below the cable of the flexible support to provide inertial load; wherein, the hydraulic cylinder of each hydraulic drive rod is connected to a hydraulic valve controlled by a computational control device via a pipeline, for receiving control commands and driving the piston rod to extend or retract, thereby applying a controllable tension to the cable; or, see Figure 2The execution structure 2 includes: four retractable hydraulic drive rods, one end of each hydraulic drive rod is fixedly connected to the flexible support cable, and the other end is fixed to the ground through the foundation support; each hydraulic drive rod includes a hydraulic cylinder and a piston rod, and is connected to the calculation and control device through a hydraulic valve, for driving extension and retraction according to control commands, thereby applying a controllable tension to the flexible support 1.

[0044] In this embodiment, the actuation structure of the flexible support includes two retractable hydraulic drive rods. Each hydraulic drive rod is rigidly connected to the horizontal cable of the flexible support via a hydraulic cylinder and a piston rod, and a mass block is suspended at the lower end of the hydraulic rod to provide inertial load. The computational control device generates a control force output strategy for the actuation structure based on the pre-determined optimal control strategy for each vibration mode of the flexible support and the real-time monitored structural motion parameters. Specifically, firstly, the modal response gain of each vibration mode under a unit control force is obtained by combining the modal response results of each vibration mode of the flexible support with the pre-determined optimal control relationship. Subsequently, based on the modal response gain of each vibration mode and the preset vibration suppression objective function, the optimal control vector for each vibration mode under a unit control force is calculated using the frequency domain optimal control method, and the control vector of each vibration mode is dissipated to obtain the optimal control strategy for each vibration mode after dissipation correction. In the specific implementation with two hydraulic drive rods, the optimal control strategy for each vibration mode after dissipation correction is first mapped to the physical control force space to calculate the magnitude of the control force required to be applied to each hydraulic rod. The mapping process multiplies and superimposes the optimal control vector in the modal space with the response weights of the corresponding modes to obtain the real-time tension command of the hydraulic rod. Based on the calculated control force, the computational control device sends control commands to the hydraulic cylinder via hydraulic valves, driving the piston rod to extend or retract, thereby applying a controllable tension to the cables of the flexible support and achieving dynamic regulation of the wind-induced vibration of the flexible support. Through this process, the computational control device can apply precise force output to the hydraulic drive rod according to the vibration characteristics of each vibration mode and the actual wind load conditions, effectively suppressing the overall wind-induced vibration of the flexible support while ensuring that the structure operates within a safe range.

[0045] In this embodiment, the actuation structure of the flexible support includes four retractable hydraulic drive rods. One end of each hydraulic drive rod is fixedly connected to the horizontal cable of the flexible support, and the other end is fixed to the ground through a foundation support. Each hydraulic drive rod includes a hydraulic cylinder and a piston rod, and is connected to a computational control device through a hydraulic valve to receive control commands and drive the piston rod to extend or retract, thereby applying a controllable tension to the flexible support. Under this actuation structure, the computational control device first calculates the modal response gain of each vibration mode under a unit control force based on the modal response results of each vibration mode of the flexible support and a pre-determined optimal control relationship. Then, according to the modal response gain of each vibration mode and a preset vibration suppression objective function, the optimal control vector for each vibration mode under a unit control force is calculated using a frequency domain optimal control method, and dissipation correction is applied to obtain the optimal control strategy for each vibration mode after dissipation correction. With the implementation of four hydraulic drive rods, the optimal control strategy for each vibration mode after dissipation correction is mapped to the control force space of the physical actuation structure. Specifically, the computational control device combines the modal control vector with the response weights of the corresponding modes, as well as the installation position, direction of action, and degree of freedom configuration of each hydraulic rod, to calculate the magnitude of the control force that each hydraulic drive rod should apply at the current time point. Subsequently, the computational control device sends control commands to each hydraulic cylinder through hydraulic valves, causing the piston rod to extend or retract according to the calculated force output, applying the required controllable tension to the cables of the flexible support. By continuously updating the control commands, the four hydraulic drive rods can work together to dynamically suppress wind-induced vibrations of the flexible support, ensuring that the vibration level of the structure under different wind load conditions is controlled within a safe and optimized range.

[0046] From the perspective of structural dynamics and engineering control, the execution structure configuration and its collaborative working method with the computational control device described in this embodiment have clear physical basis and engineering feasibility. Firstly, regardless of whether a structure with two retractable hydraulic drive rods and a mass block at their lower end is used, or a structure with four retractable hydraulic drive rods fixed to the ground via foundation supports, controllable additional tension can be introduced at the cables of the flexible support, directly acting on the main force and vibration path of the flexible support. This method of applying control force at the cable level matches the structural characteristics of the flexible support, where cables are the main load-bearing and vibration components, enabling the control force to be efficiently coupled to the lower-order and dominant vibration modes of the structure, conforming to the basic principle of "matching the force application location with the modal participation rate" in structural vibration control. In the embodiment with two hydraulic drive rods and a mass block, the mass block acts as an additional inertial load, forming a mechanical coupling relationship with the flexible support cables through the hydraulic drive rods, giving the execution structure a certain inertial adjustment capability while applying control force. This structural form is consistent with the engineering principle of combining inertial dampers, tuned mass dampers, and active control devices. It achieves active adjustment of inertial effects through a hydraulic system, improving the control effect on low-frequency wind-induced vibrations without significantly increasing the self-weight of the flexible support. The hydraulic cylinder and piston rod are connected to the cables via rigid connectors, ensuring a clear control force transmission path and controllable stiffness. This facilitates precise adjustment of the output force via hydraulic valves. This type of hydraulic actuator combined with inertial load structure has mature applications in vibration control of bridges, towers, and large flexible structures, possessing a solid foundation for engineering implementation. In the embodiment where four hydraulic drive rods are fixed to the ground via foundation supports, each hydraulic drive rod forms multi-point constraints and multi-channel force inputs on the flexible support cables, enabling the control system to have more flexible adjustment capabilities for different vibration modes in space. By combining the installation position and direction of action of the hydraulic drive rods with the structural degrees of freedom configuration of the flexible support, the computational control device can map the optimal control vector in modal space to the control force distribution of each hydraulic drive rod in physical space, thereby achieving multi-actuator collaborative control. This multi-actuator active cable control method is a mature technology in the vibration control of cable structures, tensioned structures, and large-span structures. Its mechanical modeling and control allocation methods can be implemented using existing structural control theory and hydraulic servo technology. From the perspective of the control implementation process, the computational control device calculates the optimal control strategy corresponding to each vibration mode in the frequency domain based on the modal response results, modal response gain, and pre-determined optimal control relationship of each vibration mode of the flexible support. Furthermore, it suppresses unnecessary high-frequency or high-damping modal control components through dissipation correction.Subsequently, the dissipatively corrected modal control strategy is mapped to the physical control force space of the hydraulic drive rod. This mapping process essentially converts the control vector in the modal coordinate system into force commands in the physical force space through the modal shape and actuator arrangement matrix. This is a conventional and mature control allocation step in active structural control. The computational control device sends control commands to the hydraulic cylinder through the hydraulic valve, driving the piston rod to extend and retract to output the corresponding tension. This process can be achieved using existing proportional valve or servo valve hydraulic control technology, and the control accuracy and response speed can meet the requirements of wind-induced vibration regulation. In summary, the configuration selection of the execution structure, the method of applying control force, and the collaborative control process with the computational control device described in this embodiment are all based on mature structural dynamics theory, modal control methods, and hydraulic execution technology. The structural form is clear, and the control path is well-defined. There are no implementation obstacles beyond existing engineering conditions, nor is it necessary to rely on unconventional or unavailable components. Therefore, this execution structure and its control method have good feasibility and reliability in practical engineering and can effectively support the dynamic regulation target of wind-induced vibration of flexible supports.

[0047] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A dynamically adjustable wind-resistant system for flexible supports, characterized in that, The system includes: The flexible support includes two parallel horizontal cables, which are pre-tensioned when installed, and the photovoltaic module is fixedly installed between the two cables; An execution structure is located below the flexible support and is connected to two cables respectively. The execution structure outputs control force to the cables according to the control command issued by the received computing control device, so as to change the stress state of the flexible support under wind load. A wind monitoring device includes wind field sensors arranged around a flexible support for acquiring wind field parameters acting on the flexible support, the wind field parameters including at least wind speed or wind direction; A motion monitoring device is used to acquire the structural motion parameters of the flexible support, wherein the structural motion parameters include at least one of the displacement, velocity or acceleration of the photovoltaic module in the flexible support; The computational control device is used to receive the wind field parameters collected by the wind monitoring device and the structural motion parameters collected by the motion monitoring device, and combine them with the environmental parameters used for wind field simulation of the area where the flexible support is located, the response matrix of the frequency domain expression of each mode of the flexible support to the wind load, and the optimal control relationship of the unit control force of the execution structure acting on the flexible support under each vibration mode of the flexible support, to generate a control force output strategy. The computing control device is also used to send corresponding control commands to the execution structure according to the control force output strategy, so that the execution structure applies a corresponding control force to the cable, thereby realizing dynamic control of wind-induced vibration of the flexible support. The process by which the computational control device generates the control force output strategy for the execution structure includes: Based on the pre-acquired environmental parameters and the wind field parameters collected by the wind monitoring device, wind field simulation is performed on the area where the flexible support is located to obtain wind load data acting on the flexible support. Perform a Fourier transform on the wind load data to obtain the frequency domain representation of the wind load data; Based on the frequency domain representation of wind load data and the frequency domain response matrices of each vibration mode of the flexible support to wind load obtained in advance, the response results corresponding to each vibration mode of the flexible support are determined. Based on the response results corresponding to each vibration mode of the flexible support and the pre-determined optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode, the optimal control strategy corresponding to each vibration mode is generated, specifically including: Based on the response results of each vibration mode, and combined with the predetermined optimal control relationship of the flexible support when the structural unit control force is applied to the flexible support under each vibration mode, the response results and the optimal control relationship are mapped and calculated to obtain the modal response gain when the structural unit control force is applied to the vibration mode. Based on the modal response gain of each vibration mode and the pre-set second vibration suppression objective function, the optimal control vector for the unit control force corresponding to each vibration mode is calculated using the frequency domain optimal control method. Among them, the modal response gain G i Used to characterize the equivalent influence of the unit control force of the execution structure on the vibration response of the flexible support in the i-th vibration mode; The second vibration suppression objective function is used to minimize the modal vibration residual response of the flexible support under the combined action of the response results of each vibration mode of the flexible support and the control force. The optimal control method in the frequency domain is either the weighted least squares method or the frequency domain H∞ control method; The optimal control vectors of each vibration mode under unit control force are combined in order of modal order to form the optimal response relationship matrix of the flexible support under unit control force. The optimal response relationship matrix is ​​used to characterize the optimal control strategy corresponding to each vibration mode. Based on the response results corresponding to each vibration mode of the flexible support, the total response result of the flexible support is obtained. Determine whether the difference between the total response result of the flexible support and the structural motion parameters monitored by the motion monitoring device is within a preset range. If the difference is within the preset range, generate a control force output strategy for the execution structure based on the optimal control strategy corresponding to each vibration mode and in combination with a preset dissipation strategy. Specifically, this includes: Based on the overall response results of the flexible support, at least one equivalent structural response parameter is extracted to characterize the overall wind-induced vibration level of the flexible support. The equivalent structural response parameter is one or more of displacement, velocity, or acceleration. The total response result of the flexible support is the sum of the response results corresponding to each vibration mode of the flexible support; From the structural motion parameters monitored by the motion monitoring device, the measured structural response parameters that have the same physical meaning as the equivalent structural response parameters are selected, and the equivalent structural response parameters and the measured structural response parameters are numerically compared within the same time window. Based on whether the difference between the equivalent structural response parameters and the measured structural response parameters is less than a preset response deviation threshold, it is determined whether the difference between the total response result of the flexible support and the real-time monitored structural motion parameters is within a preset range. If the difference is determined to be within a preset range, based on the optimal control strategy corresponding to each vibration mode, a dissipation adjustment coefficient is used to perform dissipation correction on the optimal control strategy corresponding to each vibration mode, resulting in the dissipation-corrected optimal control strategy for each vibration mode, specifically including: For each vibration mode, the optimal control strategy corresponding to that vibration mode is represented as a mode control vector, and the mode control vector is weighted and calculated item by item with the dissipation adjustment coefficient of that vibration mode at the corresponding discrete frequency to obtain the dissipation correction control vector of that vibration mode. The dissipation correction control vectors corresponding to each vibration mode are combined according to the mode order to form the optimal control strategy for each vibration mode after dissipation correction, which is used to generate the control force output strategy of the execution structure. The dissipation adjustment coefficient is a pre-calculated frequency weighting coefficient related to the vibration modal damping characteristics and discrete frequency components. The dissipation adjustment coefficient is used to multiply each discrete frequency component in the modal control vector by the corresponding dissipation adjustment coefficient to adjust the control force output ratio of each vibration mode. Based on the optimal control strategy for each vibration mode after dissipation correction, a control force output strategy for the execution structure under the current wind load condition is generated, and corresponding control commands are sent to the execution structure to realize the dynamic control of wind-induced vibration of the flexible support.

2. The dynamic wind-resistant control system for flexible supports according to claim 1, characterized in that, The process of determining the frequency domain response matrices of each vibration mode of the flexible support to wind load and the optimal control relationship when the unit control force of the actuator acts on the flexible support under each vibration mode of the flexible support includes: Based on the inherent structural parameters of the flexible scaffold, the flexible scaffold is simulated to obtain a simulation model of the flexible scaffold. Modal analysis was performed on the simulation model of the flexible support to obtain the vibration modes of the flexible support. Based on the vibration modes of the flexible support, the frequency domain response matrix of each vibration mode of the flexible support to the wind load is obtained based on the frequency domain expression of the wind load data. Furthermore, based on the various vibration modes of the flexible support, the frequency domain response corresponding to each vibration mode is calculated when the unit control force of the actuator is applied to the flexible support. With the goal of reducing the wind-induced vibration of the flexible support, the optimal control relationship is determined when the unit control force of the actuator is applied to the flexible support under each vibration mode.

3. The dynamic wind-resistant adjustment system for flexible supports according to claim 2, characterized in that, Based on the vibration modes of the flexible support, and using the frequency domain representation of wind load data, the frequency domain response matrices of each vibration mode of the flexible support to wind load are obtained, specifically including: The frequency domain representation of the wind load data is decomposed into multiple discrete frequency components; For each discrete frequency component, a pre-determined modal participation coefficient corresponding to that discrete frequency component is used to perform a weighted calculation on the modal response results of each vibration mode of the flexible support under that discrete frequency component, so as to obtain the frequency domain response vector of the flexible support under the corresponding discrete frequency component. The modal response results are obtained by solving the corresponding modal dynamic equations based on the wind load excitation of the discrete frequency components. For each discrete frequency component, the corresponding frequency domain response vector is used as a column vector to form a matrix unit. The discrete frequency components in the frequency domain expression of the wind load data are arranged and combined in order from low frequency to high frequency to form a frequency domain response matrix of each vibration mode of the flexible support to the wind load, with the vibration mode as the row and the discrete frequency component as the column.

4. The dynamic wind-resistant adjustment system for flexible supports according to claim 2, characterized in that, Based on the vibration modes of the flexible support, the frequency domain response of each vibration mode is calculated when the unit control force of the actuator is applied to the flexible support. With the goal of reducing wind-induced vibration of the flexible support, the optimal control relationship is determined when the unit control force of the actuator is applied to the flexible support under each vibration mode. Specifically, this includes: For each vibration mode of the flexible support, the frequency domain response matrix of each vibration mode of the flexible support to wind load is obtained, and the frequency domain response of the vibration mode at each discrete frequency component is extracted. The frequency domain response of the vibration mode is obtained by projecting the effect of wind load at the corresponding discrete frequency component onto the vibration mode. Based on the frequency domain response of the vibration mode at each discrete frequency component, the modal response gain vector is obtained when the structural unit control force is applied to the vibration mode at each discrete frequency component. in, ; and, ; K represents the total number of discrete frequency components. Represents the k-th discrete frequency component The modal response gain of the nth vibration mode is calculated by applying the unit control force of the structure. This represents the modal response gain vector when the structural unit control force is applied to the nth vibration mode at each discrete frequency component. The mode shape vector of the nth vibration mode is obtained in advance from the structural parameters of the flexible support through experimental mode identification; T represents the transpose of the vector; B is the control force input matrix of the actuator, which is used to characterize the distribution of the control force applied by the actuator on each degree of freedom of the flexible support; it is determined in advance according to the installation position, direction of action and configuration of the degree of freedom of the actuator on the flexible support; For the nth order vibration mode at the kth discrete frequency component Frequency domain response; This represents the amplitude normalization of the modal response; Based on the preset first vibration suppression objective function J, the modal response gain of each vibration mode is combined with the first vibration suppression objective function, and the optimal allocation vector of unit control force for each mode is calculated using the frequency domain optimal control method. The first vibration suppression objective function is: ； N is the total number of modes; The frequency domain optimal control method is either the weighted least squares method or the frequency domain H∞ control method; The optimal allocation vector of unit control force for each mode is frequency-weighted to obtain the weighted optimal allocation vector of unit control force for each mode. The weighted optimal allocation vectors of unit control force for each mode are combined in order of mode order to obtain the optimal response relationship matrix of the flexible support under the action of unit control force. The optimal response relationship matrix serves as the optimal control relationship for each vibration mode.

5. The dynamic wind-resistant adjustment system for flexible supports according to claim 4, characterized in that, Based on the frequency domain representation of wind load data and the pre-acquired frequency domain response matrices of each vibration mode of the flexible support to wind load, the response results corresponding to each vibration mode of the flexible support are determined, specifically including: The acquired wind load time-domain data is transformed in the frequency domain and then discretized according to a pre-defined discrete frequency range to obtain the frequency-domain wind load vector. ; ； For the corresponding discrete frequency components The frequency amplitude of the wind load under the following conditions; The preset discrete frequency range is as follows: ; Based on the structural parameters of the flexible support and the vibration mode parameters obtained through modal analysis, the frequency domain response functions of each vibration mode of the flexible support to a unit wind load input within the discrete frequency range are pre-calculated, and the frequency domain response matrices of each vibration mode of the flexible support to the wind load are constructed. : ； This represents the i-th order vibration mode at discrete frequency components. The pre-defined frequency domain response function; For each vibration mode, the frequency domain wind load vector is... The frequency amplitude of the wind load corresponding to each discrete frequency component is multiplied with the frequency domain response function in the frequency domain response matrix of each vibration mode of the flexible support to the wind load, so as to obtain the frequency domain modal response of each vibration mode under each discrete frequency component. ； This represents the i-th order vibration mode at discrete frequency components. Frequency domain modal response; For each vibration mode, the frequency domain modal response of the vibration mode under each discrete frequency component within the discrete frequency range is synthesized to obtain the comprehensive frequency domain modal response result of the vibration mode under wind load. in, ; This represents the combined frequency domain modal response of the i-th vibration mode under wind load; Based on the comprehensive frequency domain modal response results of each vibration mode, the modal response energy corresponding to each vibration mode is calculated; ; This represents the modal response energy corresponding to the i-th vibration mode; The modal response energy of each vibration mode is normalized to obtain the modal participation weights of each vibration mode on the overall wind-induced response of the flexible support. in, ; This represents the modal participation weight of the i-th vibration mode on the overall wind-induced response of the flexible support; Based on the modal participation weights, the comprehensive frequency domain modal response results of each vibration mode are weighted and corrected to obtain the response results of each vibration mode of the flexible support for subsequent dynamic wind resistance control. ; .

6. The dynamic wind-resistant adjustment system for flexible supports according to claim 5, characterized in that, The actuation structure includes: two telescopic hydraulic drive rods, each hydraulic drive rod including a hydraulic cylinder and a piston rod, the end of the piston rod being connected to the cable of the flexible support via a rigid connector; and a mass block, fixed to the lower end of the hydraulic rods by an elastic or rigid support and suspended below the cable of the flexible support to provide inertial load. Each hydraulic drive rod has a hydraulic cylinder connected to a hydraulic valve controlled by a computing control device via a pipeline. This cylinder receives control commands and drives the piston rod to extend or retract, thereby applying a controllable tension to the cable. Alternatively, the execution structure includes: four retractable hydraulic drive rods, one end of each hydraulic drive rod is fixedly connected to a flexible support cable, and the other end is fixed to the ground through a foundation support; each hydraulic drive rod includes a hydraulic cylinder and a piston rod, and is connected to a computing control device through a hydraulic valve, for driving extension and retraction according to control commands, thereby applying a controllable tension to the flexible support.

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