A semi-active vibration suppression device for a wind turbine and a control method thereof

Abstract

This invention discloses a semi-active vibration suppression device and its control method for hybrid-tower wind turbines, belonging to the field of wind turbine vibration control technology. The device includes a main frame, pulley system, water tank, spring, magnetorheological damper, and intelligent controller. The pulley system enables bidirectional sliding between the frames, allowing the water tank to move freely in the horizontal plane. The water tank contains antifreeze and vibration-damping fluid, forming a tuned liquid damper. The spring and magnetorheological damper are connected parallel to each other to the frame. The control method employs a strategy combining an offline sample database and online PID fine-tuning: offline, a genetic algorithm is used to optimize PID parameters under different operating conditions to build a database; online, the current operating condition is identified to match initial parameters, and a fine-tuning genetic algorithm is used to optimize the PID parameters in real time, adjusting the damping force of the magnetorheological damper. This invention integrates the semi-active adjustment capability of the magnetorheological damper with the passive vibration absorption advantage of the tuned liquid damper, achieving multi-frequency vibration suppression. It features a compact structure, fast response, and strong adaptability, effectively extending the unit's lifespan and reducing operation and maintenance costs.

Description

Technical Field

[0001] This invention belongs to the field of wind turbine vibration control technology, specifically relating to a semi-active vibration suppression device and control method for hybrid tower wind turbines, which is particularly suitable for multi-frequency vibration suppression of large hybrid tower wind turbines in complex wind field environments. Background Technology

[0002] As large structural equipment, wind turbines are exposed to complex and ever-changing wind field environments during operation, making them susceptible to periodic and random wind loads, as well as excitation from factors such as rotor unevenness and tower turbulence. Ultra-high-rise wind turbines, due to their enormous size and increased flexibility, are particularly prone to vibration problems. Severe structural vibrations can cause fatigue damage to critical components (such as the tower, blades, and nacelle), shortening equipment lifespan, affecting power generation efficiency, and potentially leading to safety accidents. Effectively suppressing wind turbine vibration is a key technical requirement for ensuring structural safety, reducing operation and maintenance costs, and improving operational stability and economy.

[0003] Currently, commonly used vibration suppression technologies for wind turbines mainly include passive dampers (such as tuned mass dampers (TMDs) and tuned liquid dampers (TLDs), active control systems, and semi-active dampers. Passive dampers have a simple structure but limited adjustment capability, and can usually only be optimized for a single dominant frequency. They are not effective when facing wind field fluctuations or multi-frequency resonance. Active control systems, although responsive and with a wide adjustment range, are complex, costly, energy-intensive, and have a high failure rate, making it difficult to operate stably in harsh outdoor environments for extended periods. Traditional semi-active dampers, such as magnetorheological dampers (MRDs), have adjustment capabilities, but when used alone, their adaptability to complex multi-frequency vibrations and energy dissipation capabilities are still insufficient, making it difficult to balance efficient vibration suppression with reliability. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a semi-active vibration suppression device and control method for hybrid tower wind turbines. This invention organically combines a magnetorheological damper (MRD) with a tuned liquid damper (TLD), fully leveraging the advantages of both types of dampers and overcoming the limitations of existing technologies.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A semi-active vibration damping device for hybrid tower wind turbines includes:

[0007] The main support structure includes main frame one, main frame two and main frame three, with main frame one being fixedly installed inside the wind turbine unit;

[0008] The sliding guide mechanism includes multiple sets of pulleys. Main frame one and main frame three are slidably connected by the pulleys, allowing main frame three to move back and forth relative to main frame one. Main frame two and main frame three are also slidably connected by the pulleys, allowing main frame two to move left and right relative to main frame three.

[0009] The tuned liquid damper module includes a water tank fixedly installed in the main frame II, and the water tank is filled with antifreeze and vibration damping fluid.

[0010] The elastic support module includes multiple springs, with one end of each spring connected to the second main frame and the other end connected to the support of the first main frame.

[0011] The magnetorheological damper module includes at least one magnetorheological damper, one end of which is connected to the main frame 2 and the other end of which is connected to the support of the main frame 1.

[0012] The intelligent control module, electrically connected to the magnetorheological damper, is used to adjust the input current of the magnetorheological damper based on the real-time collected vibration signal, thereby adjusting the damping force.

[0013] To optimize the above technical solution, the specific measures also include:

[0014] The first track is provided on the crossbeam of the main frame one, and the main frame three slides closely in the first track through a pulley system; the second track is provided on the crossbeam of the main frame three, and the main frame two slides closely in the second track through a pulley system.

[0015] The main frame is fixed to a stable structural platform inside the wind turbine by high-strength bolts, so that the damping force generated by the vibration damping device is transmitted to the wind turbine through the connection.

[0016] The springs and magnetorheological dampers are arranged in parallel, together forming a damped-elastic support system that connects the second main frame and the first main frame.

[0017] A semi-active vibration suppression control method for hybrid-tower wind turbines, applied to a semi-active vibration suppression device for hybrid-tower wind turbines, includes the following steps:

[0018] Step S1: Establish the structural dynamics model of the target wind turbine and generate vibration response data under typical working conditions through simulation;

[0019] Step S2: Build a PID parameter sample library offline, optimize PID parameters under different typical working conditions using a genetic algorithm, obtain multiple sets of working condition-optimal PID parameter mapping relationships, and store them in the parameter library;

[0020] Step S3: Collect the vibration response signal and environmental parameters of the current wind turbine in real time, and identify the category of the current operating condition;

[0021] Step S4: Based on the identified operating condition category, match the initial PID parameters from the parameter library as the initial parameters for the controller;

[0022] Step S5: Use an online optimization algorithm to fine-tune the current PID parameters in real time, with the minimum root mean square of vibration response as the objective function, to dynamically optimize the PID parameters;

[0023] Step S6: Substitute the optimized PID parameters into the PID control law, calculate the output current signal, and adjust the damping force of the magnetorheological damper.

[0024] Step S7: Repeat steps S3-S6 to achieve real-time online adaptive control.

[0025] In step S2, typical operating conditions include a combination of various operating conditions under different wind speeds, wind directions, turbulence intensities, and unit operating states.

[0026] In step S3, the current working condition category is identified by a classification algorithm or clustering algorithm, and the vibration response signal includes the acceleration response signal.

[0027] In step S5, the online optimization algorithm adopts a fine-tuning genetic algorithm to search and optimize within ±10% of the initial PID parameter values; the root mean square of vibration response uses the root mean square of acceleration as the evaluation index of control effect.

[0028] The PID control law calculates the output current signal using the following formula:

[0029] (1)

[0030] (2)

[0031] In the formula, u(t) is the controller output current; e(t) is the control deviation; r(t) is the initial input of the vibration signal; y(t) is the actual vibration signal; K p K is the proportionality coefficient; i K is the integral coefficient; d is the differential coefficient.

[0032] When the semi-active vibration suppression device of the hybrid tower wind turbine is working, the tuned liquid damper module absorbs low-frequency large-amplitude vibration energy through the liquid resonance characteristics, and the magnetorheological damper module suppresses high-frequency vibration components by adjusting the damping force in real time. The two work together to achieve multi-frequency vibration suppression.

[0033] The present invention has the following beneficial effects:

[0034] (1) This invention cleverly integrates the semi-active damping adjustment capability of magnetorheological dampers with the passive energy absorption advantage of tuned liquid dampers, realizing a semi-active hybrid control with "low energy consumption, fast response, and excellent performance". The damping force of the MRD can be rapidly and continuously changed by adjusting the current, adapting to the rapid changes in wind speed, wind direction and unit response, and accurately suppressing the high-frequency vibration components of the structure; the TLD effectively absorbs the low-frequency large-amplitude vibration energy based on the liquid resonance characteristics, and achieves passive energy dissipation for the main vibration frequency of the structure, stabilizing the overall system response; the synergistic work of the two greatly broadens the damping frequency band and realizes the improvement of vibration suppression effect in multiple frequency bands and multiple modes.

[0035] (2) The present invention adopts a bidirectional sliding guide mechanism design. The main frame three can slide relative to the main frame one along the first horizontal direction, and the main frame two can slide relative to the main frame three along the second horizontal direction. The two directions are perpendicular to each other, so that the water tank can move freely in both directions in the horizontal plane, effectively respond to vibration excitation from different directions, and improve the adaptability and vibration suppression effect of the vibration suppression device.

[0036] (3) This invention introduces an adaptive control strategy that combines an offline sample library with online PID fine-tuning. By optimizing PID parameters through a genetic algorithm, the robustness and sensitivity of the system are greatly improved. Offline, the genetic algorithm is used to optimize a set of PID parameters suitable for different operating conditions based on wind speed data and unit status under multiple operating conditions, and a condition-parameter database is constructed. Online, the current wind conditions and unit status are quickly identified, the optimal parameter set is matched, and the initial parameters are quickly switched. The fast-converging fine-tuning genetic algorithm is used in conjunction with real-time vibration feedback to dynamically optimize the PID parameters, ensuring that the controller continuously adapts to environmental changes and effectively avoids the decline in vibration suppression performance caused by parameter mismatch.

[0037] (4) The device of the present invention has a modular and lightweight structure, which makes it easy to integrate and maintain in the limited space of the ultra-high wind turbine. The antifreeze and vibration damping fluid in the water tank is adapted to the low temperature environment. The magnetorheological damper has low energy consumption. The whole device has the characteristics of high stability and low energy consumption, which meets the long-term operation requirements of unmanned and complex environments. Attached Figure Description

[0038] Figure 1 This is an assembly diagram of the vibration suppression system of the present invention.

[0039] Figure 2 This is an assembly diagram of the main body of the vibration damping device of the present invention.

[0040] Figure 3 This is a detailed assembly diagram of the pulley block of the present invention.

[0041] Figure 4 This is a schematic diagram of the main framework of the present invention.

[0042] Figure 5This is a schematic diagram of the second main frame of the present invention.

[0043] Figure 6 This is a schematic diagram of the main framework three of the present invention.

[0044] Figure 7 This is a schematic diagram of the water tank and antifreeze damping fluid of the present invention.

[0045] Figure 8 This is a schematic diagram of the PID control principle of the present invention.

[0046] Figure 9 This is a schematic diagram of the dynamic model of a wind turbine unit including a vibration damping system according to the present invention.

[0047] Figure 10 This is a flowchart of the controller algorithm of the present invention.

[0048] Explanation of the reference numerals in the figure:

[0049] 1-Main Frame One; 11-First Track; 2-Main Frame Two; 3-Main Frame Three; 31-Second Track; 4-Pulley Block; 5-Water Tank; 6-Spring; 7-Magnetorheological Damper; 8-Intelligent Control Module; 9-High-Strength Bolt. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0051] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0052] Reference Figure 1 and Figure 2 This embodiment provides a semi-active vibration damping device for a hybrid tower wind turbine, including a main frame 1, a main frame 2, a main frame 3, a pulley block 4, a water tank 5, a spring 6, a magnetorheological damper 7, and an intelligent control module 8.

[0053] like Figure 1 As shown, the main frame 1 is fixedly installed on the stable structural platform inside the wind turbine by high-strength bolts 9, ensuring that the damping force generated by the vibration damping device can be transmitted to the wind turbine through this connection.

[0054] Reference Figure 2 and combined Figure 3 The main frame 1 and main frame 3 are assembled via four sets of pulleys 4. Main frame 3 can slide along the track on the crossbeam of main frame 1, achieving movement in the first horizontal direction. Main frame 2 and main frame 3 are also assembled via four sets of pulleys 4. Main frame 2 can slide along the track on the crossbeam of main frame 3, achieving movement in the second horizontal direction. The first and second horizontal directions are perpendicular to each other, allowing the water tank 5 to move freely in both directions within the horizontal plane.

[0055] Reference Figure 7 The water tank 5 is fixedly placed inside the main frame 2. The water tank 5 contains antifreeze and vibration damping fluid, forming a tuned liquid damper module. The selection of antifreeze and vibration damping fluid ensures that the device can still work normally in low-temperature environments.

[0056] Reference Figure 2 The second main frame 2 is stably connected to the supports of the first main frame 1 via multiple springs 6 and magnetorheological dampers 7. The springs 6 and magnetorheological dampers 7 are arranged in parallel, together forming a damping-elastic support system connecting the second main frame 2 and the first main frame 1. The magnetorheological dampers 7 are electrically connected to the intelligent control module 8, which adjusts the input current of the magnetorheological dampers 7 based on real-time collected vibration signals, thereby adjusting the damping force.

[0057] This embodiment provides a semi-active vibration suppression control method for hybrid tower wind turbines, applied to the vibration suppression device described in Embodiment 1, with reference to... Figure 8 , Figure 9 and Figure 10 Specifically, it includes the following steps:

[0058] Step S1: Establish the structural dynamics model of the target wind turbine.

[0059] Reference Figure 9 A dynamic model of the wind turbine unit, including a vibration damping system, was established, and vibration response data under typical operating conditions were generated through simulation. Typical operating conditions include a combination of various operating conditions with different wind speeds, wind directions, turbulence intensities, and different unit operating states.

[0060] Step S2: Build the PID parameter sample library offline

[0061] A genetic algorithm is used offline to find multiple sets of "empirical" PID parameter sets under simulated typical operating conditions, obtaining multiple mapping relationships between operating conditions and optimal PID parameters, thus forming a parameter library. (Refer to...) Figure 8 PID control controls the output signal according to the following calculation formula:

[0062] (1)

[0063] (2)

[0064] In the formula, u(t) is the controller output current; e(t) is the control deviation; r(t) is the initial input of the vibration signal; y(t) is the actual vibration signal; K p K is the proportionality coefficient; i K is the integral coefficient; d is the differential coefficient.

[0065] Step S3: Real-time identification of current operating conditions

[0066] The system collects the vibration response signals (including acceleration response signals) and environmental parameters (such as wind speed and wind direction) of the current wind turbine in real time, and identifies the category of the current operating condition through classification or clustering algorithms.

[0067] Step S4: Match initial PID parameters

[0068] Based on the identified operating condition category, the optimal PID parameters are selected from the parameter library as the initial parameters of the controller, enabling rapid switching of initial parameters.

[0069] Step S5: Fine-tune PID parameters online

[0070] By combining lightweight online optimization algorithms such as fine-tuning genetic algorithms, the PID parameters are fine-tuned in real time within a search range of ±10%, and the minimum root mean square acceleration is used as the evaluation index of control effect to dynamically optimize the PID parameters.

[0071] Step S6: Output control current

[0072] Substitute the online fine-tuned PID parameters into the PID control law, calculate the output current signal, and control the magnetorheological damper 7 to adjust its damping force.

[0073] Step S7: Loop Control

[0074] Repeat steps S3-S6 at the next moment to achieve real-time online adaptive control.

[0075] Example of collaborative working mechanism:

[0076] This embodiment illustrates the collaborative working mechanism of the tuned liquid damper module and the magnetorheological damper module.

[0077] When the wind turbine is subjected to external excitation and vibrates, the vibration energy is transmitted to the vibration damping device through the main frame 1. The water tank 5 and the antifreeze and vibration damping fluid in the main frame 2 constitute a tuned liquid damper, which effectively absorbs low-frequency large-amplitude vibration energy based on the liquid resonance characteristics, achieves passive energy dissipation at the main vibration frequency of the structure, and stabilizes the overall system response.

[0078] Meanwhile, the intelligent control module 8 collects vibration signals in real time, dynamically optimizes PID parameters based on the current operating conditions, and outputs control current to the magnetorheological damper 7. The damping force of the magnetorheological damper 7 changes rapidly and continuously with the input current, precisely suppressing the high-frequency vibration components of the structure.

[0079] The water tank 5 can move freely in both directions within the horizontal plane via a bidirectional sliding guide mechanism, effectively responding to vibration excitations from different directions. The spring 6 provides restoring force, forming a damping-elastic system together with the magnetorheological damper 7, ensuring stable operation of the device under various working conditions.

[0080] The synergistic effect of the two greatly expands the damping frequency band, achieving improved vibration suppression effect across multiple frequency bands and modes.

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A semi-active vibration damping device for hybrid tower wind turbine units, characterized in that, include: The main support structure includes a main frame one (1), a main frame two (2) and a main frame three (3), with the main frame one (1) fixedly installed inside the wind turbine unit; The sliding guide mechanism includes multiple sets of pulleys (4). The first main frame (1) and the third main frame (3) are slidably connected by the pulleys (4). The third main frame (3) can move back and forth relative to the first main frame (1). The second main frame (2) and the third main frame (3) are slidably connected by the pulleys (4). The second main frame (2) can move left and right relative to the third main frame (3). The tuned liquid damper module includes a water tank (5) fixedly installed in the main frame (2), and the water tank (5) is filled with antifreeze and vibration damping fluid. The elastic support module includes multiple springs (6), one end of which is connected to the main frame two (2), and the other end is connected to the support of the main frame one (1); The magnetorheological damper module includes at least one magnetorheological damper (7), one end of which is connected to the main frame two (2), and the other end is connected to the support of the main frame one (1). The intelligent control module (8) is electrically connected to the magnetorheological damper (7) and is used to adjust the input current of the magnetorheological damper (7) according to the vibration signal collected in real time, thereby adjusting the damping force.

2. The semi-active vibration damping device for hybrid tower wind turbines according to claim 1, characterized in that: The main frame one (1) has a first track (11) on its crossbeam, and the main frame three (3) slides closely in the first track (11) through a pulley group (4); the main frame three (3) has a second track (31) on its crossbeam, and the main frame two (2) slides closely in the second track (31) through a pulley group (4).

3. The semi-active vibration damping device for hybrid tower wind turbines according to claim 1, characterized in that: The main frame (1) is fixed to the stable structural platform inside the wind turbine by high-strength bolts (9), so that the damping force generated by the damping device is transmitted to the wind turbine through the connection.

4. A semi-active vibration damping device for hybrid tower wind turbines according to claim 1, characterized in that: The spring (6) and the magnetorheological damper (7) are arranged in parallel to form a damping-elastic support system that connects the second main frame (2) and the first main frame (1).

5. A semi-active vibration suppression control method for hybrid-tower wind turbine generators, applied to the semi-active vibration suppression device for hybrid-tower wind turbine generators as described in any one of claims 1-4, characterized in that, Includes the following steps: Step S1: Establish the structural dynamics model of the target wind turbine and generate vibration response data under typical working conditions through simulation; Step S2: Build a PID parameter sample library offline, optimize PID parameters under different typical working conditions using a genetic algorithm, obtain multiple sets of working condition-optimal PID parameter mapping relationships, and store them in the parameter library; Step S3: Collect the vibration response signal and environmental parameters of the current wind turbine in real time. The environmental parameters include wind speed and wind direction information, and identify the category of the current operating condition. Step S4: Based on the identified operating condition category, match the initial PID parameters from the parameter library as the initial parameters for the controller; Step S5: Use an online optimization algorithm to fine-tune the current PID parameters in real time, with the minimum root mean square of vibration response as the objective function, to dynamically optimize the PID parameters; Step S6: Substitute the optimized PID parameters into the PID control law, calculate the output current signal, and adjust the damping force of the magnetorheological damper (7). Step S7: Repeat steps S3-S6 to achieve real-time online adaptive control.

6. The semi-active vibration suppression control method for hybrid tower wind turbines according to claim 5, characterized in that: In step S2, typical operating conditions include a combination of various operating conditions under different wind speeds, wind directions, turbulence intensities, and unit operating states.

7. A semi-active vibration suppression control method for hybrid tower wind turbines according to claim 5, characterized in that: In step S3, the current working condition category is identified by a classification algorithm or a clustering algorithm, and the vibration response signal includes an acceleration response signal.

8. A semi-active vibration suppression control method for hybrid tower wind turbines according to claim 5, characterized in that: In step S5, the online optimization algorithm adopts a fine-tuning genetic algorithm to search and optimize within ±10% of the initial PID parameter values; the root mean square of the vibration response uses the root mean square of acceleration as the evaluation index of the control effect.

9. A semi-active vibration suppression control method for hybrid tower wind turbines according to claim 5, characterized in that: The PID control law calculates the output current signal according to the following formula: (1)； (2)； In the formula, u(t) is the controller output current; e(t) is the control deviation; r(t) is the initial input of the vibration signal; y(t) is the actual vibration signal; K p K is the proportionality coefficient; i K is the integral coefficient; d is the differential coefficient.

10. A semi-active vibration suppression control method for hybrid tower wind turbines according to claim 5, characterized in that: When the semi-active vibration suppression device of the hybrid tower wind turbine is working, the tuned liquid damper module absorbs low-frequency large-amplitude vibration energy through the liquid resonance characteristics, and the magnetorheological damper module suppresses high-frequency vibration components by adjusting the damping force in real time. The two work together to achieve multi-frequency vibration suppression.

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