基于并联平台的海上风电运维船舶辅助登靠系统
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摘要
与陆上风力发电设备相比,海上风力发电机的运营工作更复杂,维护难度更大。文章针对海上并联风电平台的应用,设计了运维船舶的辅助登靠系统。该系统能补偿因风浪导致船舶的6个自由度不规则运动,用于帮助工作人员安全登靠。为验证系统可行性,采用Adams建立了并联平台的虚拟样机,导入Matlab,以并联平台的运动学反解为基础,建立了PID反馈控制系统,对并联平台的减振性能进行了仿真研究。仿真结果表明,该系统具有较好的响应特性,各自由度减振效果达到了95%,具有一定的工程应用价值。
The operation and maintenance(O&M) of wind turbines offshore is more complicated than onshore. To meet the challenges of offshore wind power development, this paper reports a design of auxiliary landing system for the vessels to carry out offshore wind turbine O&M service.The system is capable of compensating six irregular movements of vessels induced by wind and wave, which can help operation staffs to safely access offshore wind turbines. To verify the feasibility of the system, the virtual prototype of the parallel platform is generated in Adams, and the PID feedback control system is built based on the kinematics inverse solution. The vibration reduction performance of parallel platform is studied based on a joint simulation of Adams and Matlab. The simulation results show that the system has good response characteristics and the damping effect of each degree of freedom reaches 95%. The design is verified and it has certain good engineering application value.
The operation and maintenance(O&M) of wind turbines offshore is more complicated than onshore. To meet the challenges of offshore wind power development, this paper reports a design of auxiliary landing system for the vessels to carry out offshore wind turbine O&M service.The system is capable of compensating six irregular movements of vessels induced by wind and wave, which can help operation staffs to safely access offshore wind turbines. To verify the feasibility of the system, the virtual prototype of the parallel platform is generated in Adams, and the PID feedback control system is built based on the kinematics inverse solution. The vibration reduction performance of parallel platform is studied based on a joint simulation of Adams and Matlab. The simulation results show that the system has good response characteristics and the damping effect of each degree of freedom reaches 95%. The design is verified and it has certain good engineering application value.
引文
[1]文锋.我国海上风电现状及分析[J].新能源进展,2016,4(2):152-158.
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[3]李达.福建省海上风电场运维船论证研究[J].海峡科学,2016(12):68-71.
[4]张军.基于并联机构的海上模拟运动平台的仿真与实验研究[D].青岛:中国海洋大学,2015.
[5]陈强.六轴微振动试验平台的研究[D].南京:南京航空航天大学,2016.
[6]曾东,叶恒奎,孙江龙.箱式浮体在波浪中的运动分析[J].中国舰船研究,2006,1(S1):5-8.
[7] Salzmann,D J Cerda. Ampelmann:development of the access system for offshore wind turbines[D].Amsterdam:BOXPress, 2010.
[8]刘晓明,叶玮.液压缸结构设计及运行特性分析[J].液压气动与密封,2013,33(7):17-21.
[9]邹波.基于多传感信息融合的室内机器人位姿监测[D].绵阳:西南科技大学,2014.
[10]张昱鹏.一种大型Stewart平台的设计和分析[D].沈阳:东北大学,2009.
[11] Dasgupta B, Mruthyunjaya T S. The Stewart platform manipulator:a review[J].Mechanism&Machine Theory,2000,35(1):15-40.
[12]杨小龙.基于Stewart机构的隔振技术研究[D].南京:南京航空航天大学,2014.
[13]周敬国,权晓波,程少华.海浪环境对航行体出水特性影响研究[J].导弹与航天运载技术,2016(3):44-49.
[2]杜肖洁.海上风电项目风险分析研究[D].青岛:中国海洋大学,2014.
[3]李达.福建省海上风电场运维船论证研究[J].海峡科学,2016(12):68-71.
[4]张军.基于并联机构的海上模拟运动平台的仿真与实验研究[D].青岛:中国海洋大学,2015.
[5]陈强.六轴微振动试验平台的研究[D].南京:南京航空航天大学,2016.
[6]曾东,叶恒奎,孙江龙.箱式浮体在波浪中的运动分析[J].中国舰船研究,2006,1(S1):5-8.
[7] Salzmann,D J Cerda. Ampelmann:development of the access system for offshore wind turbines[D].Amsterdam:BOXPress, 2010.
[8]刘晓明,叶玮.液压缸结构设计及运行特性分析[J].液压气动与密封,2013,33(7):17-21.
[9]邹波.基于多传感信息融合的室内机器人位姿监测[D].绵阳:西南科技大学,2014.
[10]张昱鹏.一种大型Stewart平台的设计和分析[D].沈阳:东北大学,2009.
[11] Dasgupta B, Mruthyunjaya T S. The Stewart platform manipulator:a review[J].Mechanism&Machine Theory,2000,35(1):15-40.
[12]杨小龙.基于Stewart机构的隔振技术研究[D].南京:南京航空航天大学,2014.
[13]周敬国,权晓波,程少华.海浪环境对航行体出水特性影响研究[J].导弹与航天运载技术,2016(3):44-49.