基于ARID控制系统的固定式海洋风机纵摇控制

针对固定式海洋风机在随机风浪载荷及其联合作用下产生的具有倒立摆运动特征的纵摇，研究采用主动转动惯量驱动系统(Active Rotary Inertia Driver, ARID)对海洋风机纵摇进行控制的问题。ARID控制系统通过伺服电机驱动转动惯性质量产生控制结构摆动的最优力矩，从而减小海洋风机的纵摇运动。基于拉格朗日原理建立海洋风机-ARID控制系统的理论分析模型；采用Simulink对海洋风机-ARID控制系统的有效性进行验证，并分析系统参数(控制算法参数、转动惯量比等)对控制效果的影响规律；设计海洋风机-ARID控制系统的振动台试验，设置多种载荷激励形式，验证控制系统的稳定性与广谱有效性。数值模拟和试验结果均验证了所建立的分析模型的正确性，表明ARID控制系统对风机的纵摇运动具有显著的控制作用，为ARID控制系统在具有倒立摆运动规律的工程结构中的应用奠定理论基础。

Pitch Control of Fixed Offshore Wind Turbine Based on ARID Control System

Aiming at the pitch phenomenon with inverted pendulum motion characteristics produced by the fixed offshore wind turbine under the combined action of random wind load and wave load, an Active Rotary Inertia Driver (ARID) control system is proposed to control the pitch of the offshore wind turbine. The ARID control system uses a servo motor to drive the rotating inertia mass to generate a torque opposite to the structural swing direction, thereby reducing the pitch motion of the wind turbine. Based on Lagrange principle, the theoretical analysis model of the offshore wind turbine-ARID control system is established. The effectiveness of the offshore wind turbine-ARID control system is verified by Simulink, and the influence of the system parameters (the control algorithm parameters, rotary inertia ratio, etc.) on the control effect is analyzed. The shaking table test of the offshore wind turbine-ARID control system is designed, and a variety of load excitation forms are set to verify the stability and broad-spectrum effectiveness of the control system. The numerical simulation and test results verify the correctness of the analysis model, and show that the ARID control system is of a significant control effect on the swing control of the offshore wind turbine, which lays a theoretical foundation for the swing control of ARID control system on the structure with inverted pendulum motion characteristics.