Control of a magnetorheological tuned vibration absorber for wind turbine application utilising the refined force tracking algorithm

Martynowicz, Paweł

doi:10.1177/1461348417744299

Cited by 22 publications

(18 citation statements)

References 28 publications

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“…More analyses are concerned regarding control solutions, among other improving MR damper force tracking algorithm by combining PID-family controller with direct force measurement and improved MR damper inverse model, using Kalman filter [31] for real-time reproduction of velocity signals (especially) [34], and conducting more valuable random excitation tests.…”

Section: Resultsmentioning

confidence: 99%

Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber

Martynowicz¹

2016

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. Wind turbine tower dynamic stress is related to the fatigue wear and reliability of the whole wind turbine structure. This paper deals with the problem of tower vibration control using a specially designed and built laboratory model. The considered wind turbine tower-nacelle model consists of a vertically arranged stiff rod (representing the tower), and a system of steel plates (representing nacelle and turbine assemblies) fixed at its top. The horizontally aligned tuned vibration absorber (TVA) with magnetorheological (MR) damper is located also at the top of the rod (in nacelle system). Force excitation sources applied horizontally to the tower itself and to the nacelle were both considered. The MR damper real-time control algorithms, including ground hook control and its modification, sliding mode control, linear and nonlinear (cubic and square root) damping, and adaptive solutions are compared to the open-loop case with various constant MR damper input current values and system without MR TVA (i.e., MR TVA in "locked" state). Comprehensive experimental analyses and their results are presented.Key words: wind turbine vibration, tower-nacelle laboratory model, tuned vibration absorber, MR damper, tower vibration control.Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber P. MARTYNOWICZ* AGH University of Science and Technology, Department of Process Control, 30 Mickiewicza Ave., 30-059 Krakow, Poland additional moving mass, spring and viscous damper, which parameters are tuned to the selected (most often first) mode of vibration [10,14]. Passive TVAs work well at the load conditions characterized with a single frequency to which they are tuned, but cannot adapt to wide excitation spectrum [15], thus more advanced TVAs are considered to change or tune TVA operating frequency. Among them, magnetorheological (MR) TVAs are placed [15], as using MR damper (instead of viscous damper) guarantees a wide range of resistance force, fast response times, low sensitivity to temperature change and fluid contamination, high operational robustness, and minor energy requirements as compared with active systems [16][17][18]. As simulations and experiments show, implementation of MR damper in TVA system may lead to further vibration reduction in relation with passive TVA (subject of author's separate publications).Within the scope of current project, tower-nacelle simulation and laboratory models (Figs. 1 and 2) were specially developed and built, in which all turbine components (nacelle, blades, hub, shaft, generator and possibly gearbox) are represented by nacelle concentrated mass and mass moments of inertia. The laboratory test rig of wind turbine tower-nacelle system offers the possibility of modeling tower vibration under various aerodynamic, hydrodynamic, mechanical unbalance, changeable electromagnetic load, and other excitation sources (listed above), since horizontal concentrated force (designated by F s (t)) generated by dedi...

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Section: Resultsmentioning

confidence: 99%

Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber

Martynowicz¹

2016

Bulletin of the Polish Academy of Sciences Technical Sciences

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“…The experimental tests proved that the Opt7 method delivers the most valuable vibration control results, especially in comparison with a reference modified two-level displacement ground-hook law that previously demonstrated one of the best vibration reduction properties. 5,6,22,30 However, the Mod.GND algorithm is devoted for the case when only the primary system displacement amplitude has to be minimised, while the proposed solution copes well with different constraints (optimisation fields) as, e.g. working space, MR damper stroke, current or force, that may be encountered during the operation of real-world systems.…”

Section: Discussionmentioning

confidence: 99%

“…Among them, magnetorheological (MR) TVAs are placed, 5,6,11,21,22 as an MR damper guarantees a wide range of resistance force in comparison with a viscous damper and a high operational robustness along with minor energy requirements as compared with the active systems. 1,3,[22][23][24][25][26][27][28] Simulations and experiments show that the implementation of an MR damper in the TVA system may lead to further vibration reduction with regard to passive TVA. 5,6 Most of the MR damper real-time control algorithms are based on the bang-bang approach or two-stage concepts with the calculation of an MR damper required force and precise force tracking algorithms.…”

Section: Introductionmentioning

confidence: 99%

“…5,6 Most of the MR damper real-time control algorithms are based on the bang-bang approach or two-stage concepts with the calculation of an MR damper required force and precise force tracking algorithms. 9,22,29 The latter concepts suffer from the inability to produce the demanded MR damper force pattern due to, e.g. the impossibility to generate active forces and force value limitations: lower constraint imposed by the residual force and upper constraint imposed by the piston velocity and maximum MR damper current/magnetic circuit saturation.…”

Section: Introductionmentioning

confidence: 99%

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Real-time implementation of nonlinear optimal-based vibration control for a wind turbine model

Martynowicz

2018

Journal of Low Frequency Noise, Vibration and Active Control

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In the present paper, a real-time implementation of a previously introduced nonlinear optimal-based vibration control method is presented. A vibrating structure, namely a wind turbine tower-nacelle laboratory model equipped with a tuned vibration absorber, is analysed. For control purposes, a magnetorheological damper is used in a tuned vibration absorber system. Force constraints of a magnetorheological damper are an intrinsic part of the implemented nonlinear technique. The aim of the current research is to experimentally investigate the influence of nonlinear optimal-based vibration control law quality index elements' weights on the vibration attenuation effectiveness along with the magnetorheological damper stroke amplitude, maximum control current or force. As a reference, simple, optimal-based, modified ground-hook law with the sole control objective of primary structure deflection minimisation is used in addition to the passive systems with constant magnetorheological damper current values, proving the benefits of the proposed solution.

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“…In semi-active suspensions, the variable damping is often provided by magnetorheological (MR) dampers, [34][35][36] electrorheological (ER) dampers, 37 and electronic adjustable dampers (EAD). 38 According to the control output, the actuators change the fluid viscosity in MR/ER dampers or the current-controlled area of orifice in variable orifice dampers through the input current.…”

Section: Inverse Model Of the Controllable Dampermentioning

confidence: 99%

A method to eliminate unsprung adverse effect of in-wheel motor-driven vehicles

Nie

Zhuang

Chen³

et al. 2018

Journal of Low Frequency Noise, Vibration and Active Control

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In-wheel motor-driven vehicles are the development trend for future vehicles due to its high energy efficiency and low emission as well as its flexibility to achieve independent steering, driving, etc. However, the weighted wheel of in-wheel electric vehicles involves more unexpected unsprung vibrations, which imposes adverse effect on vehicle ride comfort. In addition, there exists an invariant point around the unsprung resonance frequency in both controlled and uncontrolled suspensions, which greatly limits the elimination of unsprung adverse effect of in-wheel electric vehicles. In this paper, a combined structure is proposed to eliminate the unsprung adverse effect. The structure is composed of the vehicle suspension and a tuned mass damper, which are both controlled by a sliding mode controller, aiming at eliminating the unsprung adverse effect as well as improving ride comfort across the whole frequency spectrum. The tunes mass damper is used to get rid of the constraint of the invariant point. The simulation and hardware-in-theloop results show that the root mean square of the sprung mass acceleration and tire deflection is reduced by 31.2% and 2.2% respectively, which indicates that the proposed method is effective and ride comfort is greatly improved.

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Control of a magnetorheological tuned vibration absorber for wind turbine application utilising the refined force tracking algorithm

Cited by 22 publications

References 28 publications

Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber

Study of vibration control using laboratory test rig of wind turbine tower-nacelle system with MR damper based tuned vibration absorber

Real-time implementation of nonlinear optimal-based vibration control for a wind turbine model

A method to eliminate unsprung adverse effect of in-wheel motor-driven vehicles

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