A method and device for active vibration suppression of high-altitude wind power cable

Abstract

The application relates to the technical field of high-altitude wind power, in particular to a method and device for actively inhibiting vibration of a high-altitude wind power cable. The method comprises the following steps: constructing a cable dynamics model suitable for the high-altitude wind power cable; inputting dynamics data collected by a sensor arranged at a first preset position on the high-altitude wind power cable into the cable dynamics model, so as to output predicted transverse stress waves at each position on the high-altitude wind power cable; and based on the predicted transverse stress waves at each position on the high-altitude wind power cable, controlling an actuator arranged at a second preset position on the high-altitude wind power cable to act, so as to generate a series of feedforward cancellation waves for offsetting the predicted transverse stress waves at each position, thereby actively inhibiting vibration caused by impact load, and further ensuring that the cable has a controllable pose in the air and finally improving the transmission efficiency of the energy load.

Description

Technical Field

[0001] This invention relates to the field of high-altitude wind power technology, and in particular to an active vibration suppression method and device applicable to high-altitude wind power cables. Background Technology

[0002] High-altitude wind power (HAVW) technology captures stable and strong wind energy thousands of meters above the ground using tethered aircraft and is considered one of the most promising next-generation renewable energy solutions. In this system, the flexible cable connecting the HAVW to the ground power station plays a crucial role in power transmission and aircraft mooring. Its dynamic stability directly determines the energy capture efficiency, operational safety, and service life of the entire system.

[0003] However, cable systems operate within a typical non-conservative force field. Time-varying parachute aerodynamic traction, sudden gusts of wind, and the cable's own deployment and retraction operations all inject instantaneous mechanical energy into the system. This energy is not uniformly distributed as assumed by static analysis; instead, it propagates at high speeds within the cable as stress waves, approaching the speed of sound (typically in the kilometers per second). When these waves reach boundaries (such as ground anchor points or winch mechanisms), they are reflected. The reflected waves superimpose with subsequent incident waves, potentially triggering severe resonance, or even causing abrupt changes in cable tension, structural fatigue, or loss of control. Especially when the cable's axial velocity approaches the stress wave velocity, the system enters a complex "supercritical" dynamic state, leading to uncontrollable cable attitude in the air and ultimately affecting its energy load transmission efficiency.

[0004] Based on this, the present invention proposes an active vibration suppression method and device applicable to high-altitude wind power cables to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention describes an active vibration suppression method and apparatus for high-altitude wind cables, which can improve the transmission efficiency of cable energy load.

[0006] According to a first aspect, the present invention provides an active vibration suppression method applicable to high-altitude wind power cables, comprising: Acquire dynamic data from a sensor located at a first preset position on the high-altitude wind cable; The dynamic data is input into a pre-built cable dynamics model, and the predicted transverse stress waves at various locations on the high-altitude wind cable are output; wherein, the predicted transverse stress waves contain amplitude information, frequency information and phase information; Based on the predicted transverse stress waves at various locations on the high-altitude wind cable, the actuator set at the second preset position on the high-altitude wind cable is controlled to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each location; wherein, at the third preset position on the high-altitude wind cable, one of the feedforward cancellation waves has the same amplitude, the same frequency, and opposite phase as the predicted transverse stress wave at the third preset position, and the heights of the first preset position, the third preset position, and the second preset position decrease sequentially.

[0007] According to a second aspect, the present invention provides an active vibration suppression device suitable for high-altitude wind power cables, comprising: The acquisition unit is configured to acquire dynamic data collected by a sensor located at a first preset position on the high-altitude wind cable; The output unit is configured to input the dynamic data into a pre-built cable dynamics model and output the predicted transverse stress wave at each location on the high-altitude wind cable; wherein the predicted transverse stress wave contains amplitude information, frequency information and phase information; The control unit is configured to control the actuator located at a second preset position on the high-altitude wind cable to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each position, based on the predicted transverse stress waves at each position. At a third preset position on the high-altitude wind cable, one of the feedforward cancellation waves has the same amplitude, the same frequency, and opposite phase to the predicted transverse stress wave at the third preset position. The heights of the first preset position, the third preset position, and the second preset position decrease sequentially.

[0008] According to a third aspect, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method of the first aspect.

[0009] According to a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of the first aspect.

[0010] According to the active vibration suppression method and apparatus for high-altitude wind cables provided by the present invention, a cable dynamics model suitable for high-altitude wind cables is constructed. Dynamic data collected by sensors located at a first preset position on the high-altitude wind cable is input into this model, and predicted transverse stress waves at various positions on the high-altitude wind cable can be output. Then, based on the predicted transverse stress waves at various positions on the high-altitude wind cable, the actuator located at a second preset position on the high-altitude wind cable is controlled to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each position. This actively suppresses vibrations caused by impact loads, ensuring controllable cable orientation in the air and ultimately improving the energy load transmission efficiency. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A flowchart illustrating an active vibration suppression method for high-altitude wind cables according to one embodiment is shown. Figure 2 A schematic block diagram of an active vibration suppression device for high-altitude wind cables according to one embodiment is shown; Figure 3 A schematic diagram of the forces acting on a single mass node of an aerial wind cable according to one embodiment is shown. Figure 4 A schematic diagram of a simulation model of a high-altitude wind cable according to one embodiment is shown; Figure 5 The diagram shows the time-displacement curve of a high-altitude wind cable before correction of node tension according to one embodiment. Figure 6 The diagram shows a time-displacement curve of a high-altitude wind cable after correction of node tension according to one embodiment. Figure 7 A three-dimensional wave propagation spatiotemporal diagram of a high-altitude wind cable without feedforward cancellation wavefield is shown according to one embodiment. Figure 8 A three-dimensional wave propagation spatiotemporal diagram of a high-altitude wind cable employing a feedforward canceling wave field is shown according to one embodiment; Figure 9 The time displacement curves of critical mass nodes of a high-altitude wind cable according to one embodiment are shown in the form of a feedforward wave field cancellation. Figure 10 The diagram shows the time displacement curves of critical mass nodes when a high-altitude wind cable employs feedforward cancellation of the wave field according to one embodiment. Figure 11 The graph shows the total mechanical energy attenuation curve of a high-altitude wind cable system without feedforward cancellation of the wave field, according to one embodiment. Figure 12 A graph showing the total mechanical energy attenuation of a high-altitude wind cable system according to one embodiment, when the system employs a feedforward-canceled wave field, is presented. Detailed Implementation

[0013] The solution provided by the present invention will now be described with reference to the accompanying drawings.

[0014] Figure 1 This diagram illustrates a flow chart of an active vibration suppression method for high-altitude wind cables according to one embodiment. It is understood that this method can be executed by any device, equipment, platform, or cluster of devices with computing and processing capabilities. Figure 1 As shown, the method includes: Step 100: Acquire dynamic data collected by a sensor located at a first preset position on the high-altitude wind cable; Step 102: Input the dynamic data into the pre-built cable dynamic model and output the predicted transverse stress wave at each location on the high-altitude wind cable; wherein the predicted transverse stress wave contains amplitude information, frequency information and phase information; Step 104: Based on the predicted transverse stress waves at various locations on the high-altitude wind cable, control the actuator set at the second preset position on the high-altitude wind cable to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each location; wherein, at the third preset position on the high-altitude wind cable, one of the feedforward cancellation waves has the same amplitude, the same frequency, and opposite phase as the predicted transverse stress wave at the third preset position, and the heights of the first preset position, the third preset position, and the second preset position decrease sequentially.

[0015] In this embodiment, by constructing a cable dynamics model suitable for high-altitude wind cables, the dynamic data collected by sensors located at a first preset position on the high-altitude wind cable are input into the cable dynamics model, and the predicted transverse stress waves at each position on the high-altitude wind cable can be output. Then, based on the predicted transverse stress waves at each position on the high-altitude wind cable, the actuator located at a second preset position on the high-altitude wind cable is controlled to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each position. This can actively suppress the vibration caused by the impact load, thereby ensuring the controllable position of the cable in the air and ultimately improving its energy load transmission efficiency.

[0016] In other words, to achieve efficient management of cable wave energy, this paper proposes a model-predictive feedforward control strategy to accurately cancel the predicted transverse stress waves at each location. The basic principle of the control is to utilize the interference characteristics of waves to apply a feedforward cancellation wave at the control end in advance when the wave reaches the third preset position. The amplitude, frequency, and phase information of the feedforward cancellation wave are all calculated in advance at the control end (i.e., the location of the actuator, such as the ground) using the aforementioned cable dynamics model. The two waves will undergo destructive interference, thereby significantly reducing or even eliminating the vibration at the third preset position.

[0017] In some implementations, the sensor may include at least one of a displacement sensor, a velocity sensor, and an acceleration sensor, and the dynamic data may include at least one of time-varying displacement data, time-varying velocity data, and time-varying acceleration data, without being specifically limited herein.

[0018] As a preferred implementation, the cable dynamics model is constructed in the following manner: The high-altitude wind cable can be represented as a series of discrete mass nodes connected by massless springs; An initial dynamic model is constructed in a three-dimensional Cartesian coordinate system based on the nodal tension, air resistance, material damping, and gravity between adjacent mass nodes. The elastic tension and wave tension existing between adjacent mass nodes are used as nodal tensions to correct the initial dynamic model, thus obtaining the cable dynamic model.

[0019] In this embodiment, the traditional discrete cable model simplifies the cable into a point mass connected by springs, considering only interactions based on instantaneous position changes and neglecting stress transmission time. The core purpose of introducing stress wave correction is to go beyond this simplification, enabling the model to realistically reflect the physical process of disturbances propagating in the cable at a finite speed over time—the hysteresis effect of wave propagation. This is crucial for analyzing impact dynamics and designing active control strategies that rely on precise timing. In the traditional spring-mass model, the tension on any segment of the cable is determined solely by the instantaneous relative position difference between the two ends of that segment, its physical essence resembling a static spring. The main limitation of this model is its inability to simulate the hysteresis effect of wave propagation; the motion of any one point in the model immediately affects all other points through the connecting springs. This is equivalent to assuming the interaction speed is infinitely fast, completely ignoring the fact that any mechanical disturbance in the real world propagates at a finite wave speed. The model can describe the overall vibration pattern of the cable, but it cannot depict how a localized impact, like ripples on water, propagates, reflects, and interacts along the cable in the form of waves. For active control, the biggest drawback is that the model cannot predict the precise propagation time of a disturbance from the detected point to the control point. Without this "delay time," the controller cannot apply countermeasures at the correct moment. However, the revised model makes a crucial improvement to the calculation of tension: the tension of a cable segment is determined not only by the positional difference between the two ends of the mass, but also by an additional term. This additional force is proportional to the cable's material density, cross-sectional area, and the square of the wave velocity. Most importantly, it is related to the rate of change of the shape of the overall displacement distribution of that cable segment (i.e., the spatial gradient).

[0020] like Figure 3 As shown, in a preferred embodiment, the initial dynamic model is determined by the following formula:

[0021] In the formula, the subscript i represents the i-th mass node. Subscript 1 represents the first mass node, subscript n represents the nth mass node, subscripts x, y, z represent the directions x, y, z respectively, and m represents the mass node. The uppermost point of the high-altitude wind cable is the first mass node, and the lowermost point is the nth mass node. The second derivative of the displacement generated by the mass node. Let T be the first derivative of the displacement generated by the mass node, and T be the nodal tension. Let be the angle between the nodal tension and the x-axis. The air drag coefficient, Let be the air density, A be the cross-sectional area of ​​the mass node, and v be the velocity of the mass node. The material damping coefficient, Let be the linear density of the material, and c be the wave velocity of the transverse stress wave. It is the acceleration due to gravity. The angle between gravity and the x-axis. The angle between gravity and the y-axis. The angle between gravity and the z-axis.

[0022] In this embodiment, the aerial cable is considered to be composed of multiple discrete, concentrated mass points connected by massless springs. The total length of the cable is uniformly divided into several segments, and the distance between adjacent mass points (i.e., nodes) is equal to the total length divided by the number of nodes minus one. At any given time, the position change (i.e., displacement) of each node in three-dimensional space can be decomposed into components along the x, y, and z directions, which together constitute the displacement state vector of that node. For nodes inside the cable, their motion in each direction is determined by the component of the tension generated by the adjacent nodes through the spring action, air resistance, and the component of gravity in that direction. According to Newton's second law, the mass of a node multiplied by its acceleration in that direction equals the resultant force of all the aforementioned forces. For nodes at both ends, the force situation is similar to that of the internal nodes, but the tension comes only from the single node directly adjacent to it.

[0023] Stress waves refer to stress and strain disturbances generated within an object under dynamic loads, propagating in the form of elastic waves. They are a phenomenon of particle vibration propagation in an elastic medium, essentially a process of energy transfer through the elastic interaction between medium particles. Most existing dynamic models neglect the propagation effect of stress waves caused by sudden load changes such as gusts of wind or equipment start-up and shutdown vibrations. As a carrier of dynamic loads, stress waves propagate much faster than the overall structural vibration response, reflecting the high-frequency dynamic distribution of energy in cables in real time. Stress waves generated by strong wind loads propagate rapidly through cable nodes, and existing dynamic models cannot capture the impact of transient energy peaks on node connections. Non-conservative forces such as air resistance and contact damping are directly related to cable vibration energy dissipation through the attenuation characteristics of stress waves. Introducing stress waves into the system allows for quantitative analysis of the impact of air resistance and material damping on the energy dissipation rate. Under extreme wind loads, high-altitude cables may experience a sudden change from relaxation to tension, accompanied by transverse stress waves with significantly larger amplitudes. At this time, the stress wave attenuation coefficient and characteristic frequency will undergo a step change. The instability threshold can be quantitatively identified by monitoring the sudden change in the stress wave reflection coefficient, but existing dynamic models cannot capture this dynamic transformation process.

[0024] To address this technical problem, as a preferred embodiment, the corrected node tension includes the node tension of the i-th mass node in the x, y, and z directions, and the node tension of the 1st and nth mass nodes in the z direction. The corrected node tension is determined by the following formula:

[0025] In the formula, k is the discrete spring constant, and represents the displacement generated by the mass node. This represents the distance between adjacent mass nodes.

[0026] In this embodiment, the tension between nodes consists of two contributions: an elastic force proportional to the displacement difference between adjacent nodes, and a wave term related to the wave velocity and the displacement gradient of adjacent nodes. The system's energy loss originates from two aspects: air resistance proportional to the square of the relative air velocity, and internal material damping proportional to the node's velocity. Combining the above modifications, the node's dynamic equation can be formally expressed as: node mass multiplied by acceleration equals (the sum of the elastic restoring force and wave stress resulting from the displacement of adjacent nodes) multiplied by the corresponding geometric direction cosine, minus the air resistance and material damping force, and finally adding the component of gravity in that direction.

[0027] In summary, existing dynamic models generally treat the cable as a whole or a vibration system with finite degrees of freedom. Most are based on dynamic models that neglect stress wave propagation and employ response-driven feedback control strategies. This makes it difficult to accurately predict and proactively counteract the stress wave propagation process. However, the modeling method used in this invention proposes a dynamic model with a stress wave correction term, characterizing the physical process of disturbance propagation at wave speed. Simultaneously, based on a wave model, feedforward control senses the stress wave during its propagation and predicts its waveform information (i.e., amplitude, frequency, and phase information) at a third preset position, implementing "advance" prediction and preparation. This method can proactively suppress vibrations caused by impact loads.

[0028] In other words, the disturbance excited by the impact load in the cable is essentially a stress wave propagating at the material wave velocity, a dynamic process containing rich high-frequency components. Existing simplified models, due to their limited bandwidth, cannot accurately describe the instantaneous details of stress wave generation, propagation, and boundary reflection. In these models, stress waves are equivalent to "external forces" acting on discrete mass points, and their spatial evolution and time delay along the cable length are severely obscured. This invention establishes a dynamic model that includes a stress wave correction term, enabling the dynamic model to not only reflect the overall low-frequency vibration of the system but also accurately simulate the physical processes of stress wave generation, propagation, and boundary reflection, laying a precise model foundation for subsequent control strategies. Furthermore, by sensing the incident wave in advance along the wave propagation path and using a precise cable dynamics model to predict its arrival time and waveform at the third preset position, a control force (i.e., a feedforward cancellation wave) opposite to the predicted transverse stress wave at the third preset position is actively applied at the control end. This achieves precise cancellation of the stress wave vibration, thereby advancing the vibration suppression process from "suppressing the vibration that has already occurred" to "preventing the reflection and superposition of the wave," ultimately achieving efficient and rapid active vibration suppression of the cable.

[0029] To verify the above theoretical model, combined with Figures 4 to 12 Conduct simulation studies.

[0030] To verify the effectiveness of the aforementioned proposed modified cable system dynamic model and active wave feedforward cancellation strategy, the inventors established a lumped-parameter dynamic model of the high-altitude cable system in the MATLAB / Simulink environment and set up comparative simulation experiments. The simulation aims to visually demonstrate the physical processes of stress wave propagation, sensing, and active cancellation at the control end in the cable, and to quantitatively evaluate the impact of this control strategy on the system's vibration response and energy dissipation. Based on the previously derived dynamic equations, a 30-node discretized cable Simulink model was constructed, with a cable length of 500m. The simulation software modeling is as follows: Figure 4 As shown.

[0031] Figure 5 The original model was based on lumped parameter models, in which all nodes start moving almost at the same moment, and the disturbance is transmitted instantaneously. This is seriously inconsistent with physical facts. The model is essentially an "infinite wave speed" and can only describe quasi-static or global modal vibration. Figure 6 In the modified dynamic model incorporating the wave term, the disturbance originates from the point of application and propagates clearly towards both ends, forming two separate wave packets. This wave propagation process was successfully reproduced. This demonstrates that the modification term endows the model with the core capability to describe wave dynamics.

[0032] Figure 7 and Figure 8The colors in the diagram represent displacement amplitude. Under uncontrolled conditions (i.e., without feedforward cancellation of the wave field), the pulse excitation, generated at the free end, propagates towards the fixed end at a constant wave speed. Upon reaching the fixed boundary, the wavefront undergoes total internal reflection, i.e., phase reversal. The reflected wave continuously superimposes with subsequent waves, forming standing wave interference in the cable. This indicates that under traditional fixed boundary conditions, disturbance energy is confined within the system and can only be slowly dissipated through weak material damping, resulting in persistent vibration.

[0033] The displacement response of nodes in the interference region between the feedforward wave and the excitation wave is the ultimate indicator for evaluating the vibration suppression effect. Figure 9 and Figure 10 The displacement time histories of some key nodes were compared under two operating conditions. Under the uncontrolled condition, the response of intermediate nodes exhibited a large-amplitude pulse with a peak displacement of 0.00158 m, followed by slowly decaying oscillations due to multiple reflections. The feedforward control condition, however, displayed fundamentally different response characteristics: the peak displacement was drastically suppressed to 0.00072 m, a reduction of 54%. Table 1 summarizes the key quantitative indicators. The data shows that feedforward control not only excels in suppressing instantaneous impacts but also significantly shortens the system's vibration relaxation time, thus significantly improving dynamic stability.

[0034] The effectiveness of control strategies can be understood more profoundly from the perspective of system energy. Figure 11 and Figure 12 It can be seen that under uncontrolled conditions, the energy reaches its peak after the excitation input and remains at a high level for a long time due to boundary reflection, with slow decay. However, under feedforward control conditions, when the control force takes effect, the total energy of the system shows a steep drop, and the peak energy is significantly reduced by 41%. Thereafter, the residual vibration energy of the system remains at a lower level. This proves that the feedforward control strategy achieves active and directional dissipation of fluctuating energy, rather than passively waiting for its slow decay, fundamentally changing the energy dissipation path of the system.

[0035] The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0036] According to another embodiment, the present invention provides an active vibration suppression device suitable for high-altitude wind power cables. Figure 2A schematic block diagram of an active vibration suppression device for high-altitude wind cables, according to one embodiment, is shown. It will be understood that this device can be implemented by any apparatus, device, platform, or cluster of devices with computing and processing capabilities. Figure 2 As shown, the device includes: an acquisition unit 200, an output unit 202, and a control unit 204. The main functions of each component are as follows: The acquisition unit 200 is configured to acquire dynamic data collected by a sensor located at a first preset position on the high-altitude wind cable; The output unit 202 is configured to input the dynamic data into a pre-built cable dynamics model and output the predicted transverse stress wave at each location on the high-altitude wind cable; wherein the predicted transverse stress wave contains amplitude information, frequency information and phase information. The control unit 204 is configured to control the actuator located at a second preset position on the high-altitude wind cable to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each position, based on the predicted transverse stress waves at each position. At a third preset position on the high-altitude wind cable, one of the feedforward cancellation waves has the same amplitude, the same frequency, and opposite phase as the predicted transverse stress wave at the third preset position. The heights of the first preset position, the third preset position, and the second preset position decrease sequentially.

[0037] In a preferred embodiment, the cable dynamics model is constructed as follows: The high-altitude wind cable can be represented as a series of discrete mass nodes connected by massless springs; An initial dynamic model is constructed in a three-dimensional Cartesian coordinate system based on the nodal tension, air resistance, material damping, and gravity between adjacent mass nodes. The elastic tension and wave tension existing between adjacent mass nodes are used as the node tension to correct the initial dynamic model, thus obtaining the cable dynamic model.

[0038] In a preferred embodiment, the initial dynamic model is determined by the following formula:

[0039] In the formula, the subscript i represents the i-th mass node. Subscript 1 represents the first mass node, subscript n represents the nth mass node, subscripts x, y, z represent the directions x, y, z respectively, and m represents the mass node. The uppermost point of the high-altitude wind cable is the first mass node, and the lowermost point is the nth mass node. The second derivative of the displacement generated by the mass node. Let T be the first derivative of the displacement generated by the mass node, and T be the nodal tension. Let be the angle between the nodal tension and the x-axis. The air drag coefficient, Let be the air density, A be the cross-sectional area of ​​the mass node, and v be the velocity of the mass node. The material damping coefficient, Let be the linear density of the material, and c be the wave velocity of the transverse stress wave. It is the acceleration due to gravity. The angle between gravity and the x-axis. The angle between gravity and the y-axis. The angle between gravity and the z-axis.

[0040] In a preferred embodiment, the corrected nodal tension includes the nodal tension of the i-th mass node in the x, y, and z directions, and the nodal tension of the 1st and nth mass nodes in the z direction. The corrected nodal tension is determined by the following formula:

[0041] In the formula, k is the discrete spring constant, and represents the displacement generated by the mass node. This represents the distance between adjacent mass nodes.

[0042] According to another embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed in a computer, causes the computer to perform a combination Figure 1 The method described.

[0043] According to another embodiment, an electronic device is also provided, including a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, it implements a combination... Figure 1 The method described.

[0044] The various embodiments of the present invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0045] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this invention can be implemented using hardware, software, firmware, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium.

[0046] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. An active vibration suppression method applicable to high-altitude wind power cables, characterized in that, include: Acquire dynamic data from a sensor located at a first preset position on the high-altitude wind cable; The dynamic data is input into a pre-built cable dynamics model, and the predicted transverse stress waves at various locations on the high-altitude wind cable are output; wherein, the predicted transverse stress waves contain amplitude information, frequency information and phase information; Based on the predicted transverse stress waves at various locations on the high-altitude wind cable, the actuator set at the second preset position on the high-altitude wind cable is controlled to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each location; wherein, at the third preset position on the high-altitude wind cable, one of the feedforward cancellation waves has the same amplitude, the same frequency, and opposite phase as the predicted transverse stress wave at the third preset position, and the heights of the first preset position, the third preset position, and the second preset position decrease sequentially.

2. The method according to claim 1, characterized in that, The cable dynamics model is constructed in the following manner: The high-altitude wind cable can be represented as a series of discrete mass nodes connected by massless springs; An initial dynamic model is constructed in a three-dimensional Cartesian coordinate system based on the nodal tension, air resistance, material damping, and gravity between adjacent mass nodes. The elastic tension and wave tension existing between adjacent mass nodes are used as the node tension to correct the initial dynamic model, thus obtaining the cable dynamic model.

3. The method according to claim 2, characterized in that, The initial dynamic model is determined by the following formula: In the formula, the subscript i represents the i-th mass node. Subscript 1 represents the first mass node, subscript n represents the nth mass node, subscripts x, y, z represent the directions x, y, z respectively, and m represents the mass node. The uppermost point of the high-altitude wind cable is the first mass node, and the lowermost point is the nth mass node. The second derivative of the displacement generated by the mass node. Let T be the first derivative of the displacement generated by the mass node, and T be the nodal tension. Let be the angle between the nodal tension and the x-axis. The air drag coefficient, Let be the air density, A be the cross-sectional area of ​​the mass node, and v be the velocity of the mass node. The material damping coefficient, The linear density of the material. The wave velocity of the transverse stress wave. It is the acceleration due to gravity. The angle between gravity and the x-axis. The angle between gravity and the y-axis. The angle between gravity and the z-axis.

4. The method according to claim 3, characterized in that, The corrected nodal tensions include the nodal tensions of the i-th mass node in the x, y, and z directions, and the nodal tensions of the 1st and nth mass nodes in the z direction. The corrected nodal tensions are determined by the following formula: In the formula, k is the discrete spring constant, and represents the displacement generated by the mass node. This represents the distance between adjacent mass nodes.

5. An active vibration suppression device suitable for high-altitude wind power cables, characterized in that, include: The acquisition unit is configured to acquire dynamic data collected by a sensor located at a first preset position on the high-altitude wind cable; The output unit is configured to input the dynamic data into a pre-built cable dynamics model and output the predicted transverse stress wave at each location on the high-altitude wind cable; wherein the predicted transverse stress wave contains amplitude information, frequency information and phase information; The control unit is configured to control the actuator located at a second preset position on the high-altitude wind cable to generate a series of feedforward cancellation waves to cancel the predicted transverse stress waves at each position, based on the predicted transverse stress waves at each position. At a third preset position on the high-altitude wind cable, one of the feedforward cancellation waves has the same amplitude, the same frequency, and opposite phase to the predicted transverse stress wave at the third preset position. The heights of the first preset position, the third preset position, and the second preset position decrease sequentially.

6. The apparatus according to claim 5, characterized in that, The cable dynamics model is constructed in the following manner: The high-altitude wind cable can be represented as a series of discrete mass nodes connected by massless springs; An initial dynamic model is constructed in a three-dimensional Cartesian coordinate system based on the nodal tension, air resistance, material damping, and gravity between adjacent mass nodes. The elastic tension and wave tension existing between adjacent mass nodes are used as the node tension to correct the initial dynamic model, thus obtaining the cable dynamic model.

7. The apparatus according to claim 6, characterized in that, The initial dynamic model is determined by the following formula: In the formula, the subscript i represents the i-th mass node. Subscript 1 represents the first mass node, subscript n represents the nth mass node, subscripts x, y, z represent the directions x, y, z respectively, and m represents the mass node. The uppermost point of the high-altitude wind cable is the first mass node, and the lowermost point is the nth mass node. The second derivative of the displacement generated by the mass node. Let T be the first derivative of the displacement generated by the mass node, and T be the nodal tension. Let be the angle between the nodal tension and the x-axis. The air drag coefficient, Let be the air density, A be the cross-sectional area of ​​the mass node, and v be the velocity of the mass node. The material damping coefficient, Let be the linear density of the material, and c be the wave velocity of the transverse stress wave. It is the acceleration due to gravity. The angle between gravity and the x-axis. The angle between gravity and the y-axis. The angle between gravity and the z-axis.

8. The apparatus according to claim 7, characterized in that, The corrected nodal tensions include the nodal tensions of the i-th mass node in the x, y, and z directions, and the nodal tensions of the 1st and nth mass nodes in the z direction. The corrected nodal tensions are determined by the following formula: In the formula, k is the discrete spring constant, and represents the displacement generated by the mass node. This represents the distance between adjacent mass nodes.

9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1-4.

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