TWI448865B - Method of controlling of variable inertial momentum and its apparatus - Google Patents
Method of controlling of variable inertial momentum and its apparatus Download PDFInfo
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- TWI448865B TWI448865B TW099126695A TW99126695A TWI448865B TW I448865 B TWI448865 B TW I448865B TW 099126695 A TW099126695 A TW 099126695A TW 99126695 A TW99126695 A TW 99126695A TW I448865 B TWI448865 B TW I448865B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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本發明係有關於一種變慣性矩之控制方法及其裝置，本創作關於變慣性矩裝置，分別依變慣性矩之控制參數，完成其動力行為分析。實施於風力葉片，可依當地風場之振幅與頻率等，應用本發明的裝置之動力系統數值模擬分析結果，透過變慣性矩之控制方法完成滿足當地風場設計的變頻風力機。The invention relates to a method and a device for controlling a variable moment of inertia. The present invention relates to a variable moment of inertia device, which performs a dynamic behavior analysis according to a control parameter of a variable moment of inertia. The wind blade can be implemented according to the amplitude and frequency of the local wind field, and the numerical simulation analysis result of the power system of the device of the invention can be applied, and the variable frequency wind turbine designed to meet the local wind field design is completed by the variable inertia moment control method.
運用慣性矩，已廣為大眾所知。但是，到目前為止，利用變慣性矩之控制裝置尚未出現。然日本物理雜誌(Jpn.J.Appl.Phys.Vol.36(1997)pp.7052-7060)作者曾專研旋轉臂單擺之非線性動力行為分析。The use of moment of inertia has been widely known to the public. However, up to now, control devices using variable moments of inertia have not appeared. However, the author of the Japanese Journal of Physics (Jpn. J. Appl. Phys. Vol. 36 (1997) pp. 7072-7060) has studied the nonlinear dynamic behavior analysis of a single pendulum.
因此，本創作之一範疇在於提供一種變慣性矩之控制方法及其裝置，其應用變慣性矩之控制方法，依動力分析結果，透過變慣性矩之控制方法能滿足當地風場設計的變頻風力機。Therefore, one of the scope of this creation is to provide a control method and device for variable moment of inertia, which uses the control method of variable moment of inertia. According to the results of dynamic analysis, the control method of variable moment of inertia can meet the variable frequency wind of local wind field design. machine.
爰此，有鑑於習知之慣性矩裝置，故本發明提供一種變慣性矩之控制方法，其步驟如下：A.施於變慣性矩結構，確認該動力系統，其旋轉質心與旋轉主軸共心，請參閱第一圖所示，依幾何關係求質點系統質心 公式如下：Mr 2 sinθ2 -Mr 3 sinθ3 +mr 1 sinθ1 =0 (1)Therefore, in view of the conventional moment of inertia device, the present invention provides a method for controlling the moment of inertia, the steps of which are as follows: A. Applying a variable moment of inertia structure, confirming that the power system is concentric with the rotating center of mass and the rotating spindle Please refer to the figure in the first figure. According to the geometric relationship, the centroid formula of the mass point system is as follows: Mr 2 sinθ 2 - Mr 3 sin θ 3 + mr 1 sin θ 1 =0 (1)
m (R -r 1 cosθ1 )+M b b -Mr 2 cosθ2 -Mr 3 cosθ3 =0 (2) m ( R - r 1 cosθ 1 )+ M b b - Mr 2 cosθ 2 - Mr 3 cosθ 3 =0 (2)
其中，r 1 與θ1 分別表示控制質量之連桿長度及連桿與葉片之夾角，r 2 ，r 3 與θ2 ,θ3 分別表示配重至旋轉主軸之距離及滑桿與葉片之夾角；R 表示控制質量之旋轉轉軸至旋轉質心之距離；M 與m 分別表示配重與控制質量之質量；M b 與b 分別表示葉片之質量與葉片質量中心至旋轉主軸之距離。Where r 1 and θ 1 respectively represent the length of the connecting rod of the control mass and the angle between the connecting rod and the blade, r 2 , r 3 and θ 2 , θ 3 respectively represent the distance from the counterweight to the rotating main shaft and the angle between the sliding rod and the blade R represents the distance from the rotating shaft of the control mass to the center of mass of the rotation; M and m respectively represent the mass of the weight and the quality of the control; M b and b respectively represent the mass of the blade and the distance from the center of the blade mass to the main axis of rotation.
依以上方程式(1)與(2)關係式可以確認該動力系統其旋轉質心位於旋轉主軸心上。According to the relationship between equations (1) and (2) above, it can be confirmed that the rotational center of mass of the power system is located on the center of the rotating main shaft.
B.該變慣性矩結構可模擬如第三圖所示之動力系統，其動力系統模擬方程式如下：
其中，m 表示控制質量之質量；ω表示旋轉主軸之旋轉角速度；r 表示控制質量之連桿長度；R 表示控制質量之旋轉轉軸至旋轉主軸之距離；c r 表示系統阻尼係數；g 表示重力場常數；t 表示時間；θ(Angular Displacement)表示控制質量之連桿與葉片之夾角(角位移)；d θ/dt 與d 2 θ/dt 2 分別表示控制質量相對轉軸之角速度(Angular Velocity)與角加速度(Angular Acceleration)。依方程式(3)透過無因次化(Dimensionless)及長度比(Length Ratio,ρ =R /r )後，簡化為Where m is the mass of the control mass; ω is the rotational angular velocity of the rotating main shaft; r is the length of the connecting rod of the control mass; R is the distance from the rotating shaft of the control mass to the rotating main axis; c r is the damping coefficient of the system; g is the gravitational field Constant; t represents time; θ (Angular Displacement) represents the angle between the control mass and the blade (angular displacement); d θ / dt and d 2 θ / dt 2 respectively represent the angular velocity (Angular Velocity) of the control mass relative to the axis of rotation Angular Acceleration. According to equation (3), after Dimensionless and Length Ratio ( ρ = R / r ), it is simplified to
其中，2=c r /(mr 2 )，γ =g /r 與ρ =R /r 。Of which 2 = c r /( mr 2 ), γ = g / r and ρ = R / r .
透過動力系統之數值模擬分析，如頻譜、分歧、渾沌、軌跡等數值模擬方法，本創作關於變慣性矩裝置，分別依變慣性矩之控制參數，完成其動力行為分析。實施於風力葉片，可依當地風場設計，透過變慣性矩之控制方法完成滿足風場設計的變頻風力機。Through the numerical simulation analysis of the dynamic system, such as spectrum, divergence, chaos, trajectory and other numerical simulation methods, the creation of the variable moment of inertia device, according to the control parameters of the variable moment of inertia, complete its dynamic behavior analysis. Implemented in the wind blade, the wind turbine can be designed according to the local wind field, and the variable frequency wind turbine designed to meet the wind field design.
本發明係有關於一種變慣性矩之控制方法及其裝置，其包括：至少一葉片架設於旋轉主軸上之葉片鼓，至少一控制質量(Controlling Mass)固定銜接於連桿一端，連桿另一端架設於其葉片末端之轉軸；相對於旋轉主軸之葉片另一端至少一葉片配重(Counterweight)，其中，該葉片配重匹配旋轉葉片相對稱於旋轉主軸，使該動力系統之質心位於旋轉主軸之軸心上。應用變慣性矩控制，其實施方法：變慣性矩之控制裝置為一動力系統；透過動力分析包括：頻譜、分歧、渾沌、軌跡等數值模擬方法，本創作關於變慣性矩裝置，分別依變慣性矩之控制參數，完成其動力行為分析。實施於風力葉片，可順應當地風場設計，透過變慣性矩之控制方法能滿足風場設計的變頻風力機。The invention relates to a method for controlling a variable moment of inertia and a device thereof, comprising: at least one blade drum mounted on a rotating main shaft, at least one controlling mass fixedly connected to one end of the connecting rod, and the other end of the connecting rod a shaft erected at the end of the blade; at least one blade weight at the other end of the blade relative to the rotating main shaft, wherein the blade weight matching the rotating blade is symmetrical to the rotating main shaft, so that the center of mass of the power system is located at the rotating main shaft On the axis. The application of variable moment of inertia control, its implementation method: the variable moment of inertia control device is a dynamic system; the dynamic analysis includes: spectrum, divergence, chaos, trajectory and other numerical simulation methods, this creation is about variable inertia moment devices, respectively The control parameters of the moment complete the dynamic behavior analysis. It is implemented in wind blades, which can be designed according to the wind field. The variable inertia moment control method can meet the wind turbine design of the variable frequency wind turbine.
首先，請參閱第一圖及第三圖所示，本發明係為一種變慣性矩之控制方法，其步驟如下：First, referring to the first and third figures, the present invention is a method for controlling the moment of inertia, and the steps are as follows:
a. 該裝置，其中，變慣性矩之旋轉資心與旋轉主軸共心：變慣性矩之控制裝置為一動力系統，由第三圖所示之動力系統模型，假設忽略葉片自重，公式(1)與(2)簡化為a device, wherein the rotational inertia of the variable moment of inertia is concentric with the rotating spindle: the control device of the variable moment of inertia is a power system, and the power system model shown in the third figure assumes that the blade weight is ignored, formula (1) ) and (2) simplified to
Mr 2 sinθ 2 -Mr 3 sinθ 3 +mr 1 sinθ 1 =0 (5) Mr 2 sin θ 2 - Mr 3 sin θ 3 + mr 1 sin θ 1 =0 (5)
m (R -r 1 cosθ 1 )-Mr 2 cosθ 2 -Mr 3 cosθ 3 =0 (6) m ( R - r 1 cos θ 1 )- Mr 2 cos θ 2 - Mr 3 cos θ 3 =0 (6)
其旋轉慣性矩之質心即旋轉主軸，可由公式(5)與(6)所決定。The center of mass of the rotational moment of inertia is the rotating principal axis, which can be determined by equations (5) and (6).
b.請參閱第三圖所示之動力系統模型座標：系統旋轉主軸為y 1 ，相對角速率為ω ；控制質量為m ；相對葉片之轉軸為A-A 軸；控制質量之連桿長度為r ；控制質量相對葉片之轉角為θ ；R 表示控制質量之旋轉轉軸至旋轉主軸之距離即葉片長度；重力場之方向量為z 1 。b. Refer to the power system model coordinates shown in the third figure: the system rotation main axis is y 1 , the relative angular rate is ω ; the control mass is m ; the relative axis of the blade is AA axis; the control quality link length is r ; The control mass is θ with respect to the blade; R represents the distance from the rotational axis of the control mass to the rotating main axis, that is, the blade length; the direction of the gravitational field is z 1 .
c. 請參閱第四圖所示，透過動力分析包括：c. Please refer to the fourth diagram. The dynamic analysis includes:
應用李亞譜諾夫指數(第五圖(a ))，使用方程式(4 )及參數=0.2,ω =1/3,γ =4.0與0.01<ρ <1.10，在第五圖(a )中，李亞譜諾夫指數(垂直軸)對長度比(橫軸即ρ =R/r )；分歧(第五圖(b ))，角速度(垂直軸)對長度比(ρ )，以上若李亞譜諾夫指數大於0表示系統持有渾沌現象。應用渾沌(第六圖)，使用方程式(4 )及參數=0.2,ω =2.0,ρ =0.5與4.0<γ <20.0，在第六圖(a )中，李亞譜諾夫指數對外力振幅(Forcing Amplitude,γ )；分歧(第六圖(b ))，角速度對外力振幅，以上若李亞譜諾夫指數大於0表示系統持有渾沌現象。Apply the Liyapunov exponent (fifth graph ( a )), using equation ( 4 ) and parameters =0.2, ω = 1/3, γ = 4.0 and 0.01 < ρ <1.10. In the fifth graph ( a ), the Lyapunov exponent (vertical axis) versus length ratio (horizontal axis is ρ = R/r ); divergence (fifth figure ( b )), angular velocity (vertical axis) versus length ratio ( ρ ), above, if the Liyapunov exponent is greater than 0, the system holds chaos. Apply chaos (sixth image), use equation ( 4 ) and parameters =0.2, ω =2.0, ρ =0.5 and 4.0< γ <20.0. In the sixth graph ( a ), the Lia's index is the external force amplitude (Forcing Amplitude, γ ); the divergence (sixth figure ( b ) ), the angular velocity of the external force amplitude, above, if the Liyapunov exponent is greater than 0, the system holds chaos.
在相軌跡(第七圖)等數值模擬，使用方程式(4 )及參數(,ω ,γ )=(0.2,1/3,4.0)，圖中，描述角速度(垂直軸,dθ /dt )對角位移(橫軸即θ )，在(a)渾沌(ρ =0.8)，以及其(b)渾沌(PoincarMaps)奇異吸引區(ρ =0.8);(c)週6(ρ =1.1)，以及其(d)週期6(PoincarMaps)吸引區(ρ =1.1)。In numerical simulations such as phase trajectories (seventh image), use equation ( 4 ) and parameters ( , ω , γ ) = (0.2, 1/3, 4.0), in the figure, describe the angular velocity (vertical axis, dθ / dt ) diagonal displacement (horizontal axis is θ ), in (a) chaos ( ρ = 0.8), And its (b) chaos (Poincar Maps) singular attraction ( ρ = 0.8); (c) week 6 ( ρ = 1.1), and its (d) cycle 6 (Poincar Maps) Attraction area ( ρ = 1.1).
在相軌跡(第八圖)等數值模擬，使用方程式(4 )及參數(,ω ,ρ )=(0.2,2.0,0.5)，圖中，描述角速度對角位移，在(a)渾沌(γ =14.30)，以及其(b)渾沌(PoincarMaps)奇異吸引區(γ =14.30);(c)週期2(γ =14.80)，以及其(d)週期2(PoincarMaps)吸引區(γ =14.80)。本創作關於變慣性矩裝置，分別依變慣性矩之控制參數，完成其動力行為分析。實施於風力葉片，可順應當地風場設計，透過變慣性矩之控制方法能滿足風場設計的變頻風力機。In numerical simulations such as phase trajectories (eighth figure), use equation ( 4 ) and parameters ( , ω , ρ ) = (0.2, 2.0, 0.5), in the figure, describes the angular velocity versus angular displacement, in (a) chaos ( γ = 14.30), and (b) chaos (Poincar Maps) singular attraction ( γ = 14.30); (c) period 2 ( γ = 14.80), and its (d) period 2 (Poincar Maps) Attraction area ( γ = 14.80). This creation is about the variable moment of inertia device, and the dynamic behavior analysis is completed according to the control parameters of the variable moment of inertia. It is implemented in wind blades, which can be designed according to the wind field. The variable inertia moment control method can meet the wind turbine design of the variable frequency wind turbine.
另外，請參閱第一圖及第二圖所示，本發明亦為本發明係有關於一種變慣性矩之控制方法及其裝置，其包括：至少一葉片(10)架設於旋轉主軸(11)上之葉片鼓(12)；該旋轉主軸(11)與葉片鼓(12)間至少一插削鍵(19)固定連接該兩件架構；至少一控制質量(13)固定銜接於連桿(14)一端，連桿另一端 構；至少一控制質量(13)固定銜接於連桿(14)一端，連桿另一端架設於其葉片(10)末端之轉軸(15)；相對於旋轉主軸(11)之葉片(10)另一端至少一葉片配重(17)，其中，該葉片配重(17)匹配旋轉葉片相對稱於旋轉主軸(11)，使該動力系統之質心位於旋轉主軸(11)之軸心(11)上；該葉片配重(17)與滑桿(18)間至少一螺桿鍵(20)固定連接該兩件架構。In addition, referring to the first figure and the second figure, the present invention also relates to a method for controlling variable moment of inertia and a device thereof, including: at least one blade (10) is mounted on a rotating main shaft (11) The upper blade drum (12); the at least one cutting key (19) between the rotating main shaft (11) and the blade drum (12) is fixedly connected to the two-piece structure; at least one control mass (13) is fixedly coupled to the connecting rod (14) One end, the other end of the connecting rod At least one control mass (13) is fixedly coupled to one end of the connecting rod (14), and the other end of the connecting rod is mounted on the rotating shaft (15) at the end of the blade (10); and the blade (10) is opposite to the rotating main shaft (11) At least one blade weight (17) at one end, wherein the blade weight (17) matches the rotating blade relative to the rotating main shaft (11) such that the center of mass of the power system is located at the axis of the rotating main shaft (11) (11) The blade weight (17) and the slider (18) are fixedly connected to the two-piece structure by at least one screw key (20).
(10)‧‧‧葉片(10) ‧‧‧ leaves
(11)‧‧‧旋轉主軸(11)‧‧‧Rotating spindle
(12)‧‧‧葉片鼓(Hub)(12)‧‧‧Wall drums (Hub)
(13)‧‧‧控制質量(13) ‧ ‧ control quality
(14)‧‧‧連桿(14)‧‧‧ linkage
(15)‧‧‧轉軸(15) ‧‧‧ shaft
(16)‧‧‧旋轉槽(16)‧‧‧Rotating trough
(17)‧‧‧配重(17)‧‧‧With weight
(18)‧‧‧滑桿(18)‧‧‧Slider
(19)‧‧‧插削鍵(19)‧‧‧Interpolation keys
(20)‧‧‧螺桿鍵(20)‧‧‧ Screw key
第一圖係為本發明之裝置平面示意圖。The first figure is a schematic plan view of the apparatus of the present invention.
第二圖係為本發明之葉片部分立體圖。The second figure is a perspective view of a blade portion of the present invention.
第三圖係為本發明之裝置模型示意圖。The third figure is a schematic diagram of the device model of the present invention.
第四圖係為本發明之流程示意圖。The fourth figure is a schematic diagram of the process of the present invention.
第五圖係為本發明之(a)李亞譜諾夫指數對長度比圖及(b)角速度對長度比圖。The fifth figure is a graph of (a) Lyapunov exponent versus length ratio and (b) angular velocity versus length ratio of the present invention.
第六圖係為本發明之(a)李亞譜諾夫指數對外力振幅圖及(b)角速度對外力振幅圖。The sixth figure is the external force amplitude map of (a) Liyapunov index and (b) the external force amplitude diagram of angular velocity.
第七圖係為本發明之角速度對角位移在兩種不同長度比下分別(a)相軌跡圖與相對應(b)渾沌圖及(c)相軌跡圖與相對應(d)周期圖。The seventh figure is the (a) phase trajectory map and the corresponding (b) chaotic map and (c) phase trajectory map and the corresponding (d) period diagram of the angular velocity diagonal displacement of the present invention at two different length ratios.
第八圖係為本發明之角速度對角位移在兩種不同外力振幅下分別(a)相軌跡圖與相對應(b)渾沌圖及(c)相軌跡圖與相對應(d)周期圖。The eighth figure is the (a) phase trajectory and the corresponding (b) chaotic map and (c) phase trajectory and corresponding (d) period diagram of the angular velocity diagonal displacement of the present invention under two different external force amplitudes.
(10)．．．葉片(10). . . blade
(11)．．．旋轉主軸(11). . . Rotary spindle
(12)．．．葉片鼓(Hub)(12). . . Blade drum (Hub)
(13)．．．控制質量(13). . . Control quality
(14)．．．連桿(14). . . link
(15)．．．轉軸(15). . . Rotating shaft
(16)．．．旋轉槽(16). . . Rotating slot
(17)．．．配重(17). . . Counterweight
(18)．．．滑桿(18). . . Slider
(19)．．．插削鍵(19). . . Plug key
(20)．．．螺桿鍵(20). . . Screw key
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| US4900227A (en) * | 1988-06-14 | 1990-02-13 | Thomson-Brandt-Armements | Wind power of hydraulic power machine with axial feed, radial outflow, and variable geometry vanes, and projectiles fitted with wind power or hydraulic power machines of this type |
| KR20030072428A (en) * | 2002-03-04 | 2003-09-15 | 이상석 | High efficiency vertical type wind-power plant |
| CN1427149A (en) * | 2002-11-13 | 2003-07-02 | 沈阳工业大学 | Megawatt grade speed veriable constant frequency wind electric generator set |
| CN101265876A (en) * | 2008-04-22 | 2008-09-17 | 上海爱瑞科技发展有限公司 | Centrifugal type inertia-variable mechanical energy storage device for vertical shaft wind power machine |
| TWM387913U (en) * | 2010-02-12 | 2010-09-01 | National Penghu Univ | Wind turbine blade with variable moment of inertia |
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