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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2020, Vol. 54 Issue (7): 1355-1361    DOI: 10.3785/j.issn.1008-973X.2020.07.014
    
Active damping control for drive train of horizontal-axis tidal current turbines
Yang-jian LI(),Wei HE,Hong-wei LIU*(),Wei LI,Yong-gang LIN,Ya-jing GU
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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Abstract  

An active damping controller was designed based on previous research in wind energy in order to minimize the resonant torsional oscillations of the weakly damped transmission system of tidal current turbines. The proposed method of active damping strategy added the compensation torque in opposite direction to the speed deviation. The poles of drivetrain system moved away from imaginary axes which indicated that the equivalent damping increased to reduce the resonant torsional load. Multibody system method and finite element analysis were used to identify the parameters of gearbox system in order to obtain the accurate low order torsional modes of transmission system. The theoretical result of the drivetrain resonant frequency was experimentally verified by an onshore experiment. A simulation model for a 650 kW tidal current turbine was constructed in Matlab/Simulink. A substitution sea trial experiment in low current speed condition was conducted to validate the feasibility of proposed active damping.

Key words： tidal current turbine      modal analysis      damping control      transmission system      load control     
Received: 31 May 2019      Published: 05 July 2020
CLC:  TK 73  
Corresponding Authors: Hong-wei LIU     E-mail: liyangjian@126.com;zju000@163.com
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Yang-jian LI
Wei HE
Hong-wei LIU
Wei LI
Yong-gang LIN
Ya-jing GU
Cite this article:

Yang-jian LI,Wei HE,Hong-wei LIU,Wei LI,Yong-gang LIN,Ya-jing GU. Active damping control for drive train of horizontal-axis tidal current turbines. Journal of ZheJiang University (Engineering Science), 2020, 54(7): 1355-1361.

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http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.07.014     OR     http://www.zjujournals.com/eng/Y2020/V54/I7/1355


水平轴海流能机组传动链主动阻尼控制技术

为了减小海流能发电机组在弱阻尼状态下的传动链谐振，借鉴风电领域的动态加阻技术，为海流能传动链设计主动阻尼控制器，通过海流能发电机组的转矩控制系统，给发电机施加和转速波动方向相反的波纹转矩. 主动阻尼控制使传动链系统极点远离虚轴，为传动系统增加等效阻尼，减小谐振. 为了准确得到传动链的低阶模态，利用多体系统法和有限元仿真方法，对传动系统的参数进行辨识，根据传动系统拖动实验的转速波动信号，对理论分析的结果进行验证. 通过Matlab/Simulink的建模仿真以及650 kW海流能机组在低流速工况下的等效海试实验，验证了主动阻尼控制对传动系统的有良好的减振效果.


关键词： 海流能机组,  模态分析,  阻尼控制,  传动系统,  载荷控制 
Fig.1 Schematic diagram of drive chain
参数 数值
叶片和轮毂 ${I_1}$ 54 151.73
一级传动的行星架 ${I_2}$ 445.68
一级传动的太阳轮 $I_2'$ 404.35
二级传动的行星架 ${I_3}$ 23.96
二级传动的太阳轮 $I_3'$ 19.59
发电机刹车盘等 ${I_4}$ 280.50
Tab.1 Inertia calculated for modeling of system kg·m2
Fig.2 Drive chain system of 650 kW tidal current energy generating set
Fig.3 Finite element model analysis for stiffness of LSS
参数 数值
低速轴k1 5.356×103
中间轴k2 4.205×103
高速轴k3 4.601
Tab.2 Stiffness value for modeling of system 104 N·m/rad
Fig.4 Block diagram of transmission system
Fig.5 Mode graph of drive train system
Fig.6 Onshore test of drive train
Fig.7 Spectrogram of generator speed
Fig.8 Block diagram of active damping control system
Fig.9 Diagram of Simulink simulation
Fig.10 Simulation result of damping control (Bg=50 N·m·s/rad)
Fig.11 Simulation result of damping control（Bg=100 N·m·s/rad）
Fig.12 Simulation result of damping control（Bg=200 N·m·s/rad）
Fig.13 650 kW tidal current turbine of ZJU
Fig.14 Speed of sea trail without damping control
Fig.15 Result of sea trail with active damping control
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