CN116011142B - Dynamic modeling method and modeling device for high-altitude wind power generation device - Google Patents
Dynamic modeling method and modeling device for high-altitude wind power generation device Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of wind power generation, in particular to a dynamic modeling method and a dynamic modeling device for a high-altitude wind power generation device. The method comprises the following steps: based on a finite segment method, dividing rope segments of main ropes of the aerial umbrella ladder system to obtain a plurality of nodes so as to establish a multi-rigid-body system model of the aerial umbrella ladder system; based on the multi-rigid body system model, establishing a kinematic equation of the aerial umbrella ladder system to obtain the motion state of each node in the aerial umbrella ladder system; determining the stress condition of each node in the aerial parachute ladder system based on an aerodynamic empirical formula and the motion state of each node in the aerial parachute ladder system; and determining a dynamic model of the aerial umbrella ladder system based on the Kane method and the stress condition of each node in the aerial umbrella ladder system. The scheme can obtain an accurate dynamic model of the aerial parachute ladder system of the high-altitude wind power generation device.
Description
Technical Field
The embodiment of the invention relates to the technical field of wind power generation, in particular to a dynamic modeling method and a dynamic modeling device for a high-altitude wind power generation device.
Background
Wind energy is used as a renewable clean energy source, and is gradually paid attention to under the condition that traditional fossil energy sources are gradually exhausted. With the advancement of industrialization of various countries, demands for electric energy are increasing, and wind power generation and photoelectricity, hydropower and the like are listed as examples of clean energy power generation.
The existing high-altitude wind power generation device consists of a ground mechanical system and an aerial parachute ladder system, and compared with a wind power generation set generating power by utilizing low-altitude wind energy, the high-altitude wind power generation device has the advantages of large power generation amount, more stable power generation and the like. However, there is no dynamic modeling method for the high-altitude wind power generation device, which makes it impossible for people to perform simulation calculation on the high-altitude wind power generation device, so that attitude control on the high-altitude wind power generation device and utilization rate of high-altitude wind energy can be affected.
Therefore, a dynamic modeling method for the high-altitude wind power generation device is needed.
Disclosure of Invention
In order to solve the problem that a dynamic modeling method for a high-altitude wind power generation device does not exist at present, the embodiment of the invention provides a dynamic modeling method and a dynamic modeling device for the high-altitude wind power generation device.
In a first aspect, an embodiment of the present invention provides a dynamic modeling method for an altitude wind power generation device, including:
based on a finite segment method, dividing rope segments of main ropes of the aerial umbrella ladder system to obtain a plurality of nodes so as to establish a multi-rigid-body system model of the aerial umbrella ladder system;
Based on the multi-rigid body system model, establishing a kinematic equation of the aerial umbrella ladder system to obtain a motion state of each node in the aerial umbrella ladder system;
Determining the stress condition of each node in the aerial umbrella ladder system based on an aerodynamic empirical formula and the motion state of each node in the aerial umbrella ladder system;
and determining a dynamic model of the aerial umbrella ladder system based on a Kane method and the stress condition of each node in the aerial umbrella ladder system.
In a second aspect, an embodiment of the present invention further provides a dynamics modeling apparatus of an altitude wind power generation apparatus, including:
the system model building unit is used for dividing the rope portion of the main rope of the air umbrella ladder system based on a finite segment method to obtain a plurality of nodes so as to build a multi-rigid body system model of the air umbrella ladder system;
the motion state calculation unit is used for establishing a motion equation of the aerial umbrella ladder system based on the multi-rigid-body system model so as to obtain the motion state of each node in the aerial umbrella ladder system;
the stress analysis unit is used for determining the stress condition of each node in the aerial parachute ladder system based on an aerodynamic empirical formula and the motion state of each node in the aerial parachute ladder system;
The model determining unit is used for determining a dynamic model of the aerial umbrella ladder system based on a Kane method and the stress condition of each node in the aerial umbrella ladder system.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present specification is implemented.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform a method according to any of the embodiments of the present specification.
The embodiment of the invention provides a dynamic modeling method and a dynamic modeling device for a high-altitude wind power generation device, wherein first, based on a finite segment method, a main cable rope of an air umbrella ladder system is divided into a plurality of nodes so as to establish a multi-rigid body system model of the air umbrella ladder system; then, based on the multi-rigid body system model, establishing a kinematic equation of the aerial parachute ladder system, so as to deduce the motion state of each node in the aerial parachute ladder system; then, based on an aerodynamic empirical formula and the motion state of each node in the aerial parachute ladder system, determining the stress condition of each node in the aerial parachute ladder system; and finally, determining a dynamic model of the aerial umbrella ladder system based on the Kane method and the stress condition of each node in the aerial umbrella ladder system, so as to realize dynamic modeling of the high-altitude wind power generation device.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a dynamic modeling method for a high altitude wind power generation device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an aerial umbrella ladder system in accordance with one embodiment of the present invention;
FIG. 3 is a schematic diagram of a multi-rigid body system model according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a multi-rigid body system model according to an embodiment of the present invention in generalized coordinates;
FIG. 5 is a schematic view of a power umbrella according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a force analysis of a powered umbrella according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a force direction solving of a power umbrella according to an embodiment of the present invention;
FIG. 8 is a hardware architecture diagram of a computing device according to one embodiment of the invention;
Fig. 9 is a diagram of a dynamic modeling apparatus of a high altitude wind power generation apparatus according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As mentioned above, a high altitude wind power generation device currently existing comprises a ground mechanical system and an aerial parachute ladder system, wherein the aerial parachute ladder system mainly comprises a tethered balloon, a main cable and a power parachute group. As shown in fig. 2, a schematic structural view of the aerial umbrella ladder system is shown. In the figure, one end of the main cable is connected with a ground mechanical system, and the other end of the main cable is pulled by a tethered balloon, so that the main cable is kept in a stagnation state, a power umbrella which keeps a certain interval is arranged on the main cable to provide additional wind power, the whole stress of the system can be changed by adjusting the effective windward area of the power umbrella, and the main cable is retracted and released by being matched with a winch fixed on the ground, so that the aim of generating electric energy by applying work to an air umbrella ladder system is fulfilled. It will be appreciated that each powered umbrella has a hole in the centre to allow the main cable to pass through the canopy. However, there is currently no dynamic modeling method for high-altitude wind power generation devices.
In order to solve the technical problems, the inventor can consider that based on a finite segment method, a main cable rope of an aerial parachute ladder system is divided into a plurality of rope segments to obtain a plurality of nodes which can be used as mass points of each rope segment, so as to establish a multi-rigid body system model of the aerial parachute ladder system; then, a kinematic equation of the air parachute ladder system can be established based on the multi-rigid-body system model, then the stress condition of each node in the multi-rigid-body system model is analyzed through an aerodynamic empirical formula, and the dynamic modeling is carried out on the multi-rigid-body system model by adopting a Kane method, so that an accurate dynamic model of the air parachute ladder system can be obtained.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a dynamic modeling method for a high altitude wind power generation device, the method includes:
Step 100: based on a finite segment method, dividing rope segments of main ropes of the aerial umbrella ladder system to obtain a plurality of nodes so as to establish a multi-rigid-body system model of the aerial umbrella ladder system;
Step 102: based on the multi-rigid body system model, establishing a kinematic equation of the aerial umbrella ladder system to obtain the motion state of each node in the aerial umbrella ladder system;
step 104: determining the stress condition of each node in the aerial parachute ladder system based on an aerodynamic empirical formula and the motion state of each node in the aerial parachute ladder system;
Step 106: and determining a dynamic model of the aerial umbrella ladder system based on the Kane method and the stress condition of each node in the aerial umbrella ladder system.
In the embodiment of the invention, firstly, based on a finite segment method, dividing the rope segments of the main rope of the air umbrella ladder system to obtain a plurality of nodes so as to establish a multi-rigid body system model of the air umbrella ladder system; then, based on the multi-rigid body system model, establishing a kinematic equation of the aerial parachute ladder system, so as to deduce the motion state of each node in the aerial parachute ladder system; then, based on an aerodynamic empirical formula and the motion state of each node in the aerial parachute ladder system, determining the stress condition of each node in the aerial parachute ladder system; and finally, determining a dynamic model of the aerial umbrella ladder system based on the Kane method and the stress condition of each node in the aerial umbrella ladder system, so as to realize dynamic modeling of the high-altitude wind power generation device.
The manner in which the individual steps shown in fig. 1 are performed is described below.
For step 100:
in some embodiments, step 100 may include the following steps S1-S3:
Step S1, dividing a main cable of an aerial parachute ladder system into a plurality of rope portions based on a limited segment method, wherein the end points of each rope portion are used as nodes;
Step S2, determining the distance between every two adjacent nodes and the quality of each node; the mass of each node comprises the mass of a rope part between the node and the previous node and the mass of a power umbrella and a tethered balloon which are arranged on the rope part between the node and the previous node;
S3, respectively constructing a three-dimensional coordinate system corresponding to each node by taking each node as a coordinate origin so as to establish a multi-rigid body system model of the aerial parachute ladder system; wherein the three-dimensional coordinate systems are parallel to each other.
In the embodiment, in step S1, the main rope of the aerial parachute ladder system is considered to be an open-chain multi-rigid-body system model formed by connecting a plurality of rope portions in series through nodes, and the position distribution of each node can fully describe the shape of the main rope on the premise that the number of the nodes is sufficiently large.
In step S2, the mass of the main rope is uniformly distributed on each node, and each power umbrella and each tethered balloon mounted on the main rope are regarded as the mass added to the corresponding node, and can bring additional stress to the corresponding node.
For example, with reference to fig. 2 and 3, taking the ground lift point of the main cable as node O 0, the mass of node O 1 is the mass of the rope portion between node O 1 and node O 0 and the mass of the power umbrella mounted on the rope portion between node O 1 and node O 0, thereby determining the mass m i of each node of the aerial ladder system. Also, it is necessary to determine the spacing l i between each adjacent two nodes, it being understood that l i represents the length of the rope portion between node O i and node O i-1.
In step S3, as shown in fig. 2, assuming that the known wind speed is a constant vector W 0 in the horizontal direction, a coordinate system is established with the connection point of the main rope and the hoist, i.e., the node O 0, as the origin of coordinates, the positive direction of W 0 is the positive direction of the X axis, and the positive direction of the vertical direction of the Z axis, a right-hand rectangular coordinate system O 0 -XYZ, called the ground coordinate system, is constructed. Then, with each node except the node O 0 as the origin of coordinates, a three-dimensional coordinate system O 1-X1Y1Z1,...On-XnYnZn parallel to the ground coordinate system O 0-X0Y0Z0 is established, respectively.
It should be noted that, a power umbrella may be installed on each rope portion, or may not be installed on each rope portion, and the power umbrella may be located on a node or may be located between two nodes, and the rope portions need to be divided according to the actual situation of the aerial ladder system, so the dividing method is not specifically limited herein.
In some embodiments, after the step of constructing the three-dimensional coordinate system corresponding to each node with each node as the origin of coordinates, before the step of building the multi-rigid body system model of the aerial umbrella ladder system, the method further comprises: and constructing generalized coordinates of each node in a three-dimensional coordinate system corresponding to the previous node.
In this embodiment, as shown in fig. 3 and 4, a generalized coordinate of each node in a three-dimensional coordinate system corresponding to a previous node, that is, θ 1,φ1,...θn,φn, is constructed. Wherein, theta i is the rope partIncluded angle with Z i-1 axis in three-dimensional coordinate system O i-1-Xi-1Yi-1Zi-1, phi i is rope portion/>The angle between the projection on the horizontal plane X i-1Oi-1Yi-1 and the X i-1 axis in the three-dimensional coordinate system O i-1-Xi-1Yi-1Zi-1. In this embodiment, θ 1,φ1,...θn,φn is used as a generalized coordinate describing each node in the open-chain multi-rigid-body system model.
For step 102:
in some embodiments, step 102 may include:
Determining a rotation matrix corresponding to each node based on the generalized coordinates of each node;
Based on the generalized coordinates of each node and the corresponding rotation matrix, establishing a kinematic equation of the aerial parachute ladder system; the kinematic equation is used for representing a recursive relation between the position, the speed and the acceleration of each node and the position, the speed and the acceleration of the previous node;
based on the kinematic equation of the aerial umbrella ladder system, the motion state of each node in the aerial umbrella ladder system is obtained.
In this embodiment, the expression of the rotation matrix is:
where E (θ i,φi) represents the rotation matrix of node O i, and θ i and φ i represent the generalized coordinates of node O i. Thus, a rotation matrix corresponding to each node can be determined.
Then, based on the generalized coordinates and corresponding rotation matrix of each node, a kinematic equation of the aerial parachute ladder system is established, namely a recursive relation between the position, the speed and the acceleration of each node and the position, the speed and the acceleration of the previous node.
The kinematic equation of this embodiment is as follows:
Wherein, [ x i yi zi]T ] represents the position vector of node O i, Representing the velocity vector of the node O i,The acceleration vector representing node O i, i is the number of the node, i E [0, n ], n is the maximum number of the node, E (theta i,φi) represents the rotation matrix of node O i,/>Representing the first derivative of the generalized coordinate θ i+1 of node O i+1,/>Representing node O i+1 generalized coordinates/>Is a second derivative of (c).
It should be noted that the vector [ x i yi zi]T ] and its derivatives of each node position are shown in the ground coordinate system O-XYZ.
In this embodiment, since the position vector, the velocity vector and the acceleration vector of the node O 0 in the initial state are all 0, namely:
the position vector, the speed vector and the acceleration vector of the node O 0 are substituted into the kinematic equation, so that the position, the speed and the acceleration of each node of the multi-rigid-body system model, namely the motion state of each node in the air parachute ladder system, can be recursively obtained.
For step 104:
In some embodiments, step 104 may include steps B1-B3:
And B1, determining the total aerodynamic force born by each power umbrella based on an aerodynamic empirical formula and the motion state of a node where each power umbrella in the aerial umbrella ladder system is positioned.
In some embodiments, step B1 may include:
for each powered umbrella, perform:
determining the relative wind speed of the current power umbrella based on the motion state of the node where the current power umbrella is positioned;
Determining an attack angle of the current power umbrella to wind, an aerodynamic resistance direction vector and an aerodynamic lift direction vector of the current power umbrella based on the relative wind speed of the current power umbrella;
and determining the total aerodynamic force born by the current power umbrella based on an aerodynamic empirical formula, the relative wind speed of the current power umbrella, the attack angle of the current power umbrella to wind, the aerodynamic resistance direction vector born by the current power umbrella and the aerodynamic lift force direction vector.
In this embodiment, it is assumed that the current powered umbrella is fixed at node O i, as shown in fig. 5 and 6. When the current power umbrella moves in wind speed vector W 0, the current power umbrella has a relative wind speed W e. Since the motion state of node O i is known from step 102, then the velocity vector of node O i in the ground coordinate system O-XYZ can be determinedThe relative wind speed W e of the current power umbrella is the difference between the wind speed vector W 0 and the speed vector W i of node O i, namely:
We＝W0-Wi
in addition, the effective windward side of the power umbrella is approximately circular in the working process, the effective windward area of the current power umbrella can be adjusted by changing the length of the umbrella ropes around the power umbrella, and the effective windward side and the rope parts of the current power umbrella Remain vertical as shown in fig. 5. Therefore, the unit normal vector of the effective windward side of the current power umbrella is:
wherein p is the unit normal vector of the effective windward side of the current power umbrella, also called the axis direction vector of the umbrella.
Therefore, according to the relative wind speed W e of the current power parachute and the unit normal vector of the effective windward side of the current power parachute, the attack angle of the current power parachute to wind can be calculated by the following formula:
wherein alpha is the attack angle of the current power umbrella to wind, namely the included angle between the relative wind speed W e and the axis direction of the current power umbrella.
As shown in fig. 6, the current powered umbrella should be subjected to aerodynamic drag in the direction parallel to W e and aerodynamic lift in the direction perpendicular to W e. Keeping the current aerodynamic drag direction vector of the powered umbrella at x w and the aerodynamic lift direction vector of the powered umbrella at z w, the two should have the following properties as shown in fig. 7:
(1) When the effective windward side of the current power umbrella is in a symmetrical shape, the aerodynamic lift and aerodynamic resistance of the current power umbrella act on the symmetrical center of the umbrella, namely the intersection point of the effective windward side of the umbrella and the axis;
(2) The direction of the aerodynamic drag direction vector x w is the direction of the relative wind speed W e;
(3) The effective windward side of the current dynamic parachute can form a projection surface S along the relative wind speed W e and the projection W e'＝We-(We & p) p of the current dynamic parachute on the effective windward side, and the current dynamic parachute is in mirror symmetry along the projection surface S, so that the aerodynamic lift direction vector z w can be in the projection surface S.
(4) Aerodynamic drag direction vector x w is perpendicular to aerodynamic lift direction vector z w.
Then, according to the above properties, with the symmetry center of the current power umbrella as the origin, X w and Z w are respectively the X-axis and Z-axis to construct a right-hand coordinate system O i-XwYwZw, as shown in fig. 7, for each axis of coordinates, that is, the expression of aerodynamic drag direction vector X w and aerodynamic lift direction vector Z w is as follows:
zw＝xw×yw
Wherein x w and z w are respectively the aerodynamic drag direction vector and the aerodynamic lift direction vector of the current power umbrella, y w is the direction vector of the y axis of the current power umbrella, W e is the relative wind speed of the current power umbrella, and W e' is the projection vector of the relative wind speed of the current power umbrella on the effective windward surface.
Then, according to the aerodynamic empirical formula, the aerodynamic drag, aerodynamic lift and total aerodynamic force of the current dynamic umbrella can be calculated by the following formula:
Wherein ρ is the air density, A is the effective frontal area of the current power umbrella, F d、Fl and F aer are the aerodynamic drag, aerodynamic lift and total aerodynamic force of the current power umbrella, W e is the relative wind speed of the current power umbrella, x w is the aerodynamic drag direction vector, z w is the aerodynamic lift direction vector, α is the angle of attack of the current power umbrella on the wind, C d (α) and C l (α) are the aerodynamic drag coefficient and aerodynamic lift coefficient of the current power umbrella, respectively, and the aerodynamic drag coefficient and aerodynamic lift coefficient are all functions related to the angle of attack α only.
Thus, by the above formula of step B1, the total aerodynamic force to which each powered umbrella is subjected can be determined.
And B2, determining the total aerodynamic force born by the tethered balloon based on an aerodynamic empirical formula and the motion state of the node where the tethered balloon is positioned in the aerial parachute ladder system.
In this embodiment, the tethered balloon is spherical, and is considered to be subject to only aerodynamic drag relative to the wind speed direction W e and not to aerodynamic lift. When the total aerodynamic force is calculated, the empirical formula for calculating the total aerodynamic force is rewritten as follows:
and B3, determining the stress condition of each node based on the mass of each node, the total aerodynamic force born by each node and the buoyancy born by each node.
In this embodiment, only the tethered balloon will be subjected to buoyancy, which can be calculated according to the following formula:
Ffloat＝-ρVg
Wherein F float is the buoyancy force exerted by the tethered balloon, ρ is the air density, V is the volume of the tethered balloon, and g is the gravitational acceleration.
The external force applied to the rope part is the gravity as known from the front; the external force applied by the power umbrella is gravity and total aerodynamic force (aerodynamic resistance and aerodynamic lift); the external forces to which the tethered balloon is subjected are gravity, total aerodynamic force (aerodynamic resistance) and buoyancy. And determining the stress condition of each node according to the object type installed on the rope portion corresponding to each node. For example, when the power umbrella and the tethered balloon are not installed on the rope portion corresponding to a certain node, the node is only subjected to the gravity of the rope portion; when a rope portion corresponding to a certain node is provided with a power umbrella, the node is subjected to the gravity of the rope portion, the gravity of the power umbrella and the total aerodynamic force of the power umbrella.
Thus, the stress condition of each node in the aerial ladder system can be determined based on the mass of each node, the total aerodynamic force experienced by each node, and the buoyancy experienced by each node.
For step 106:
In some embodiments, determining a dynamic model of the aerial umbrella ladder system based on the Kane method and the stress conditions of each node in the aerial umbrella ladder system, comprises:
based on the stress condition of each node, determining generalized external force and generalized inertial force acting on generalized coordinates of each node;
determining a Kane kinetic equation based on a Kane method and generalized external force and generalized inertial force corresponding to each node;
Based on Kane's kinetic equation, a kinetic model of the aerial umbrella ladder system is determined.
In this embodiment, the multi-rigid-body system model described in step 100 is modeled by using a Kane method, and for any node O j, the Kane dynamics equation is shown in the following formula (1):
The Kane dynamics equation represents that the sum of the generalized external force and the generalized inertial force acting on any generalized coordinate θ j,φj of the multi-rigid-body system model is 0.
The generalized external force and the generalized inertial force can be calculated according to the following formula (2):
Wherein, Represents a generalized external force acting at the generalized coordinate angle θ j of the node O j, F θj represents a generalized inertial force acting at the generalized coordinate angle θ j of the node O j,/>The generalized external force acting at the angle phi j of the generalized coordinate of the node O j is represented by F φj, the generalized inertial force acting at the angle phi j of the generalized coordinate of the node O j is represented by F ext,i, the external force such as aerodynamic force, gravity and buoyancy force applied to the node O i determined in step 104, a i is the acceleration of the node O i, m i is the mass of the node O i, n is the maximum number of the node, and v i is the speed of the node O i.
The velocity may be biased according to the following equation (3):
By analogy with equation (3), we can get:
To simplify the formula, record
E(θj,φj)TE(θk,φk)＝R(j,k),
Substituting the formulas (2), (4) and (5) into the Kane kinetic equation formula (1) and simplifying to obtain the following components:
In formulas (6) and (7), l represents the length of the rope portion, θ and φ are the generalized coordinates of the node, and F ext,i,x、Fext,i,y and F ext,i,z represent the external forces to which the node O i is subjected in the X i-1 axis direction, Y i-1 axis direction and Z i-1 axis direction, respectively.
Writing formulas (6) and (7) into a closed form to obtain a dynamic model of the aerial parachute ladder system:
Wherein,
In summary, based on the stress condition of each node, the generalized external force and the generalized inertial force acting on the generalized coordinates of each node can be determined according to the formulas (2) - (4); then, based on the Kane method and the generalized external force and the generalized inertial force corresponding to each node, determining Kane kinetic equations (formulas (6) and (7)); finally, substituting equations (9) and (10) into equation (8) can determine the dynamic model of the aerial ladder system.
As shown in fig. 8 and 9, the embodiment of the invention provides a dynamic modeling device of a high-altitude wind power generation device. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. In terms of hardware, as shown in fig. 8, a hardware architecture diagram of an electronic device where a dynamics modeling apparatus of an altitude wind power generation apparatus provided by an embodiment of the present invention is located, in addition to a processor, a memory, a network interface, and a nonvolatile memory shown in fig. 8, the electronic device where the embodiment is located may generally include other hardware, such as a forwarding chip responsible for processing a message, and so on. Taking a software implementation as an example, as shown in fig. 9, as a device in a logic sense, the device is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of an electronic device where the device is located.
As shown in fig. 9, the dynamics modeling apparatus of a high altitude wind power generation apparatus provided in this embodiment includes:
The system model building unit 901 is used for dividing the rope portion of the main rope of the air umbrella ladder system based on a finite segment method to obtain a plurality of nodes so as to build a multi-rigid body system model of the air umbrella ladder system;
The motion state calculation unit 902 is configured to establish a kinematic equation of the aerial umbrella ladder system based on the multi-rigid body system model, so as to obtain a motion state of each node in the aerial umbrella ladder system;
The stress analysis unit 903 is configured to determine a stress condition of each node in the aerial parachute ladder system based on an aerodynamic empirical formula and a motion state of each node in the aerial parachute ladder system;
And the model determining unit 904 is used for determining a dynamic model of the aerial umbrella ladder system based on the Kane method and the stress condition of each node in the aerial umbrella ladder system.
In one embodiment of the present invention, the system model building unit 901 is configured to perform:
Dividing a main cable of the aerial umbrella ladder system into a plurality of rope portions based on a finite segment method, wherein the end point of each rope portion is used as a node;
Determining the distance between every two adjacent nodes and the quality of each node; the mass of each node comprises the mass of a rope part between the node and the previous node and the mass of a power umbrella and a tethered balloon which are arranged on the rope part between the node and the previous node;
constructing a three-dimensional coordinate system corresponding to each node by taking each node as a coordinate origin so as to establish a multi-rigid body system model of the aerial parachute ladder system; wherein the three-dimensional coordinate systems are parallel to each other.
In one embodiment of the present invention, the system model building unit 901 is further configured to build generalized coordinates of each node in the three-dimensional coordinate system corresponding to the previous node, after performing the construction of the three-dimensional coordinate system corresponding to each node with each node as the origin of coordinates, before performing the construction of the multi-rigid body system model of the aerial umbrella system.
In one embodiment of the present invention, the motion state calculating unit 902 is configured to perform:
Determining a rotation matrix corresponding to each node based on the generalized coordinates of each node;
Based on the generalized coordinates of each node and the corresponding rotation matrix, establishing a kinematic equation of the aerial parachute ladder system; the kinematic equation is used for representing a recursive relation between the position, the speed and the acceleration of each node and the position, the speed and the acceleration of the previous node;
based on the kinematic equation of the aerial umbrella ladder system, the motion state of each node in the aerial umbrella ladder system is obtained.
In one embodiment of the present invention, the force analysis unit 903 is configured to perform:
Determining the total aerodynamic force born by each power umbrella based on an aerodynamic empirical formula and the motion state of a node where each power umbrella in the aerial umbrella ladder system is positioned;
Determining total aerodynamic force born by the tethered balloon based on an aerodynamic empirical formula and a motion state of a node where the tethered balloon is positioned in the aerial parachute ladder system;
The stress condition of each node is determined based on the mass of each node, the total aerodynamic force experienced by each node, and the buoyancy experienced by each node.
In one embodiment of the present invention, the force analysis unit 903 is configured to, when executing an aerodynamic empirical formula and a motion state of a node where each power parachute in the aerial parachute ladder system is located, determine a total aerodynamic force to which each power parachute is subjected, perform:
for each powered umbrella, perform:
determining the relative wind speed of the current power umbrella based on the motion state of the node where the current power umbrella is positioned;
Determining an attack angle of the current power umbrella to wind, an aerodynamic resistance direction vector and an aerodynamic lift direction vector of the current power umbrella based on the relative wind speed of the current power umbrella;
and determining the total aerodynamic force born by the current power umbrella based on an aerodynamic empirical formula, the relative wind speed of the current power umbrella, the attack angle of the current power umbrella to wind, the aerodynamic resistance direction vector born by the current power umbrella and the aerodynamic lift force direction vector.
In one embodiment of the present invention, the model determining unit 904 is configured to perform:
based on the stress condition of each node, determining generalized external force and generalized inertial force acting on generalized coordinates of each node;
determining a Kane kinetic equation based on a Kane method and generalized external force and generalized inertial force corresponding to each node;
Based on Kane's kinetic equation, a kinetic model of the aerial umbrella ladder system is determined.
It will be appreciated that the structure illustrated in the embodiments of the present invention does not constitute a specific limitation on a dynamic modeling apparatus for an overhead wind power plant. In other embodiments of the invention, a dynamic modeling apparatus for an aerial wind power plant may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The content of information interaction and execution process between the modules in the device is based on the same conception as the embodiment of the method of the present invention, and specific content can be referred to the description in the embodiment of the method of the present invention, which is not repeated here.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the dynamic modeling method of the high-altitude wind power generation device in any embodiment of the invention when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute the dynamic modeling method of the high-altitude wind power generation device in any embodiment of the invention.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method of dynamic modeling of an overhead wind power plant, comprising:
based on a finite segment method, dividing rope segments of main ropes of the aerial umbrella ladder system to obtain a plurality of nodes so as to establish a multi-rigid-body system model of the aerial umbrella ladder system;
Based on the multi-rigid body system model, establishing a kinematic equation of the aerial umbrella ladder system to obtain a motion state of each node in the aerial umbrella ladder system;
Determining the stress condition of each node in the aerial umbrella ladder system based on an aerodynamic empirical formula and the motion state of each node in the aerial umbrella ladder system;
Determining a dynamic model of the aerial umbrella ladder system based on a Kane method and stress conditions of each node in the aerial umbrella ladder system;
The method for dividing the rope portion of the main rope of the air umbrella ladder system to obtain a plurality of nodes based on the finite segment method so as to establish a multi-rigid body system model of the air umbrella ladder system comprises the following steps:
Dividing a main cable of the aerial umbrella ladder system into a plurality of rope portions based on a finite segment method, wherein the end point of each rope portion is used as a node;
Determining the distance between every two adjacent nodes and the quality of each node; the mass of each node comprises the mass of a rope part between the node and the previous node and the mass of a power umbrella and a tethered balloon which are arranged on the rope part between the node and the previous node;
Respectively constructing a three-dimensional coordinate system corresponding to each node by taking each node as a coordinate origin so as to establish a multi-rigid body system model of the aerial umbrella ladder system; wherein the three-dimensional coordinate systems are parallel to each other;
After each node is taken as the origin of coordinates, respectively constructing a three-dimensional coordinate system corresponding to each node, and before the multi-rigid body system model of the aerial parachute ladder system is built, the method further comprises the following steps: constructing generalized coordinates of each node in a three-dimensional coordinate system corresponding to the previous node;
the dynamic model of the aerial umbrella ladder system is determined based on a Kane method and the stress condition of each node in the aerial umbrella ladder system, and comprises the following steps:
based on the stress condition of each node, determining generalized external force and generalized inertial force acting on generalized coordinates of each node;
determining a Kane kinetic equation based on a Kane method and generalized external force and generalized inertial force corresponding to each node;
Determining a dynamic model of the aerial umbrella ladder system based on the Kane dynamic equation;
the step of determining a kinetic model of the aerial umbrella ladder system specifically comprises:
Modeling the multi-rigid-body system model by adopting a Kane method, wherein for any node O j, a Kane dynamics equation is shown in the following formula (1):
The Kane dynamics equation represents that the sum of the generalized external force and the generalized inertial force acting on any generalized coordinate theta j,φj of the multi-rigid-body system model is 0;
the generalized external force and the generalized inertial force are calculated according to the following formula (2):
Wherein, Represents a generalized external force acting at the generalized coordinate angle θ j of the node O j, F θj represents a generalized inertial force acting at the generalized coordinate angle θ j of the node O j,/>Representing a generalized external force acting at the angle phi j of the generalized coordinate of the node O j, F φj representing a generalized inertial force acting at the angle phi j of the generalized coordinate of the node O j, F ext,i being an external force such as aerodynamic force, gravity and buoyancy to which the node O i is subjected, a i being an acceleration of the node O i, m i being a mass of the node O i, n being a maximum number of the node, v i being a speed of the node O i;
the velocity is biased according to the following formula (3):
analogizing according to the formula (3) to obtain:
To simplify the formula, note:
E(θj,φj)TE(θk,φk)＝R(j,k),
wherein E (θ i,φi) represents the rotation matrix of node O i;
Substituting the formulas (2), (4) and (5) into the Kane kinetic equation formula (1), and simplifying to obtain the following components:
In the formulas (6) and (7), l represents the length of the rope portion, θ and φ are the generalized coordinates of the node, F ext,i,x、Fext,i,y and F ext,i,z represent the external forces applied to the node O i in the x-axis direction, y-axis direction and z-axis direction, respectively, First derivative representing node generalized coordinates θ, φ,/>Representing the second derivative of the generalized coordinates theta, phi of the node;
Writing formulas (6) and (7) into a closed form to obtain a dynamic model of the aerial parachute ladder system:
Wherein,
Based on the stress condition of each node, determining a generalized external force and a generalized inertial force acting on generalized coordinates of each node according to a formula (2) -a formula (4); then, according to the formula (6) -formula (7), determining a Kane dynamics equation based on a Kane method and generalized external force and generalized inertial force corresponding to each node; finally, substituting the formulas (9) and (10) into the formula (8) to determine the dynamic model of the aerial parachute ladder system.
2. The method of claim 1, wherein the establishing a kinematic equation of the aerial ladder system based on the multi-rigid body system model to obtain a motion state of each node in the aerial ladder system comprises:
Determining a rotation matrix corresponding to each node based on the generalized coordinates of each node;
Based on the generalized coordinates of each node and the corresponding rotation matrix, establishing a kinematic equation of the aerial umbrella ladder system; the kinematic equation is used for representing a recursive relation between the position, the speed and the acceleration of each node and the position, the speed and the acceleration of the previous node;
and obtaining the motion state of each node in the aerial umbrella ladder system based on the kinematic equation of the aerial umbrella ladder system.
3. The method of claim 1, wherein determining the stress condition of each node in the aerial ladder system based on the aerodynamic empirical formula and the motion state of each node in the aerial ladder system comprises:
Determining the total aerodynamic force suffered by each power umbrella based on an aerodynamic empirical formula and the motion state of a node where each power umbrella in the aerial umbrella ladder system is positioned;
determining the total aerodynamic force born by the tethered balloon based on an aerodynamic empirical formula and the motion state of a node where the tethered balloon is positioned in the aerial ladder system;
The stress condition of each node is determined based on the mass of each node, the total aerodynamic force experienced by each node, and the buoyancy experienced by each node.
4. A method according to claim 3, wherein determining the total aerodynamic force experienced by each powered umbrella in the aerial ladder system based on the aerodynamic empirical formula and the state of motion of the node at which each powered umbrella is located comprises:
for each of the powered umbrellas, performing:
determining the relative wind speed of the current power umbrella based on the motion state of the node where the current power umbrella is positioned;
Determining an attack angle of the current power umbrella to wind, an aerodynamic resistance direction vector and an aerodynamic lift direction vector of the current power umbrella based on the relative wind speed of the current power umbrella;
and determining the total aerodynamic force born by the current power umbrella based on an aerodynamic empirical formula, the relative wind speed of the current power umbrella, the attack angle of the current power umbrella to wind, the aerodynamic resistance direction vector born by the current power umbrella and the aerodynamic lift force direction vector.
5. A dynamic modeling apparatus for an overhead wind power plant, comprising:
the system model building unit is used for dividing the rope portion of the main rope of the air umbrella ladder system based on a finite segment method to obtain a plurality of nodes so as to build a multi-rigid body system model of the air umbrella ladder system;
the motion state calculation unit is used for establishing a motion equation of the aerial umbrella ladder system based on the multi-rigid-body system model so as to obtain the motion state of each node in the aerial umbrella ladder system;
the stress analysis unit is used for determining the stress condition of each node in the aerial parachute ladder system based on an aerodynamic empirical formula and the motion state of each node in the aerial parachute ladder system;
the model determining unit is used for determining a dynamic model of the aerial umbrella ladder system based on a Kane method and the stress condition of each node in the aerial umbrella ladder system;
the system model building unit is used for executing:
Dividing a main cable of the aerial umbrella ladder system into a plurality of rope portions based on a finite segment method, wherein the end point of each rope portion is used as a node;
Determining the distance between every two adjacent nodes and the quality of each node; the mass of each node comprises the mass of a rope part between the node and the previous node and the mass of a power umbrella and a tethered balloon which are arranged on the rope part between the node and the previous node;
Constructing a three-dimensional coordinate system corresponding to each node by taking each node as a coordinate origin so as to establish a multi-rigid body system model of the aerial parachute ladder system; wherein the three-dimensional coordinate systems are parallel to each other;
the system model building unit is used for building generalized coordinates of each node in a three-dimensional coordinate system corresponding to a previous node before a multi-rigid body system model of the aerial parachute ladder system is built after each node is used as a coordinate origin to respectively construct the three-dimensional coordinate system corresponding to each node;
The model determination unit is used for executing:
based on the stress condition of each node, determining generalized external force and generalized inertial force acting on generalized coordinates of each node;
determining a Kane kinetic equation based on a Kane method and generalized external force and generalized inertial force corresponding to each node;
Determining a dynamic model of the aerial umbrella ladder system based on a Kane dynamic equation;
the step of determining a kinetic model of the aerial umbrella ladder system specifically comprises:
Modeling the multi-rigid-body system model by adopting a Kane method, wherein for any node O j, a Kane dynamics equation is shown in the following formula (1):
The Kane dynamics equation represents that the sum of the generalized external force and the generalized inertial force acting on any generalized coordinate theta j,φj of the multi-rigid-body system model is 0;
the generalized external force and the generalized inertial force are calculated according to the following formula (2):
Wherein, Represents a generalized external force acting at the generalized coordinate angle θ j of the node O j, F θj represents a generalized inertial force acting at the generalized coordinate angle θ j of the node O j,/>Representing a generalized external force acting at the angle phi j of the generalized coordinate of the node O j, F φj representing a generalized inertial force acting at the angle phi j of the generalized coordinate of the node O j, F ext,i being an external force such as aerodynamic force, gravity and buoyancy to which the node O i is subjected, a i being an acceleration of the node O i, m i being a mass of the node O i, n being a maximum number of the node, v i being a speed of the node O i;
the velocity is biased according to the following formula (3):
analogizing according to the formula (3) to obtain:
To simplify the formula, note:
wherein E (θ i,φi) represents the rotation matrix of node O i;
Substituting the formulas (2), (4) and (5) into the Kane kinetic equation formula (1), and simplifying to obtain the following components:
In the formulas (6) and (7), l represents the length of the rope portion, θ and φ are the generalized coordinates of the node, F ext,i,x、Fext,i,y and F ext,i,z represent the external forces applied to the node O i in the x-axis direction, y-axis direction and z-axis direction, respectively, First derivative representing node generalized coordinates θ, φ,/>Representing the second derivative of the generalized coordinates theta, phi of the node;
Writing formulas (6) and (7) into a closed form to obtain a dynamic model of the aerial parachute ladder system:
Wherein,
Based on the stress condition of each node, determining a generalized external force and a generalized inertial force acting on generalized coordinates of each node according to a formula (2) -a formula (4); then, according to the formula (6) -formula (7), determining a Kane dynamics equation based on a Kane method and generalized external force and generalized inertial force corresponding to each node; finally, substituting the formulas (9) and (10) into the formula (8) to determine the dynamic model of the aerial parachute ladder system.
6. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the method of any of claims 1-4 when the computer program is executed.
7. A computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of any of claims 1-4.
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