三軸主動式運動補償離岸風機登塔系統之模擬與實驗

Abstract

本研究旨在發展離岸風場運轉維護所需之離岸風機登塔系統，進行機構、液壓伺服系統、控制系統之設計、動態模型建立以及實驗原型系統建立及實測，進行動態模擬分析與實驗原型系統實驗，以期有效降低登塔點垂向高度變化、登塔點橫搖角度及登塔點垂向加速度，以達到主動式運動補償，使維修人員更安全的進出離岸風機與維修船。 模擬部分首先以SOLIDWORKS所設計之機構3D圖檔，匯入至ADAMS機構動態模擬軟體建立機構動態模型；推導液壓驅動系統動態模式及整合控制策略與控制理論進行控制系統設計，以MATLAB/SIMULINK來實現。最終將ADAMS機構動態模型匯出至MATLAB/SIMULINK環境，整合ADAMS之機構動態及MATLAB/SIMULINK之液壓系統及控制系統，進行全系統整合動態模擬分析，驗證離岸風機登塔系統之控制效果。 實驗部分以本研究所發展之離岸風機登塔實驗原型系統，配合控制策略進行離岸風機登塔系統閉迴路控制實驗，實際驗證離岸風機登塔系統控制效果，預期有效降低登塔點垂向高度變化、登塔點橫搖角度及登塔點垂向加速度，實現離岸風機登塔系統主動運動控制補償。

This study aims to investigate a new offshore wind turbine access system (TAS), including design, dynamic modeling and simulation of TAS mechanism, hydraulic driving system, control system, and test rig set up for dynamic simulation and experiment. The vertical height, the rolling angle and the vertical acceleration of the end effector of TAS can be effectively reduced through the active motion compensation control of TAS for improving the access safety of the offshore wind turbine. For simulation, through the mechanism design and importing the 3D models drafted by SOLIDWORKS software, the dynamic modeling and simulation can be implemented by software ADAMS (Automated Dynamic Analysis of Mechanical Systems). Besides, the hydraulic driving system, the closed-loop control system of the active motion compensation control are designed, dynamically modeled and implemented via MATLAB/SIMULINK. Then, through developing the co-simulation of ADAMS and MATLAB/SIMULINK, the dynamic model of TAS is exported from ADAMS into the MATLAB/SIMULINK environment to process the dynamic co-simulation and control of TAS for verifying the effect of active compensation control system of TAS. Besides, a full-scale test rig of the TAS is set up for verifying the effect of active compensation control system of TAS experimentally. Through the active compensation control experiment in the full-scale test rig, the vertical height variation, the rolling angle and the vertical acceleration of the end effector of TAS can be reduced and verified by practical experiments.