A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established vi...A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton-Euler formalism.For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field.Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.展开更多
Disturbance effect is one of the important factors for wind damage to large cooling towers.Existing studies on the wind-induced interference of cooling tower groups are aimed at the same size and the lack of wind-indu...Disturbance effect is one of the important factors for wind damage to large cooling towers.Existing studies on the wind-induced interference of cooling tower groups are aimed at the same size and the lack of wind-induced interference effects between cooling towers of different sizes.With the background of the additional cooling tower project at Shandong Luxi Power Plant in China,the rigid body pressure wind tunnel test is carried out to obtain 194 conditions for the three combinations of the existing four-tower combination(small size),the new two-tower combination(large size)and the six-tower combination surface wind pressure distribution.Numerical simulation of the surrounding flow field of the cooling tower group with the most unfavorable interference condition of the six-tower combination is conducted using the computational fluid dynamics(CFD)method.Based on this,the characteristics of the average and pulsating wind pressure distribution of the cooling tower surface under the six-tower combination are mainly studied,and the load interference coefficients of the large-sized cooling tower and the small-sized cooling tower under the three tower group combinations are compared.The velocity flow field and vorticity changes around the cooling tower group at unfavorable wind angles are analyzed,and the wind-induced interference mechanism between cooling tower groups of different sizes is mainly refined.Research shows that the interference effect between such cooling tower groups of different sizes is much larger than that of cooling tower groups of the same size,which is specifically manifested as the enhancement effect of small-sized cooling towers and the shielding effect of large-sized cooling towers.The interference coefficient of large-sized cooling tower groups increases by 28%,and the interference coefficient of small-sized cooling tower groups decreases by 6.4%.The airflow acceleration caused by the pinch effect between small-sized cooling tower groups has an adverse effect on large-sized cooling towers and can significantly increase the magnitude of local wind load.The shielding effect of large-sized cooling towers can reduce the overall wind load of small-sized cooling towers.The research conclusions can provide the basis of wind load value design for wind resistance design of such large cooling tower addition projects.展开更多
An experimental study was conducted to investigate the effects of relative rotation direction on the wake interferences among two tandemwind turbines models.While the oncoming flow conditions were kept in constant dur...An experimental study was conducted to investigate the effects of relative rotation direction on the wake interferences among two tandemwind turbines models.While the oncoming flow conditions were kept in constant during the experiments,turbine power outputs,wind loads acting on the turbines,and wake characteristics behind the turbines were compared quantitatively with turbine models in either co-rotating or counter-rotating configuration.The measurement results reveal that the turbines in counter-rotating would harvest more wind energy from the same oncoming wind,compared with the co-rotating case.While the recovery of the streamwise velocity deficits in the wake flows was found to be almost identical with the turbines operated in either co-rotating or counter-rotating,the significant azimuthal velocity generated in the wake flow behind the upstream turbine is believed to be the reason why the counter-rotating turbines would have a better power production performance.Since the azimuthal flow velocity in the wake flow was found to decrease monotonically with the increasing downstream distance,the benefits of the counter-rotating configuration were found to decrease gradually as the spacing between the tandem turbines increases.While the counter-rotating downstream turbine was found to produce up to 20%more power compared with that of co-rotating configuration with the turbine spacing being about 0.7D,the advantage was found to become almost negligible when the turbine spacing becomes greater than 6.5D.It suggests that the counter-rotating configuration design would be more beneficial to turbines in onshore wind farms due to the smaller turbine spacing(i.e.,~3 rotor diameters for onshore wind farms vs.~7 rotor diameters for offshore wind farms in the prevailing wind direction),especially for those turbines sited over complex terrains with the turbine spacing only about 1–2 rotor diameters.展开更多
基金Project(2011ZA51001)supported by National Aerospace Science Foundation of China
文摘A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton-Euler formalism.For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field.Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.
基金supported in part by the National Natural Science Foundations(Nos. 51878351, U1733129,51761165022)the Outstanding Youth Fund of Jiangsu Natural Science Foundation(No. BK20160083).
文摘Disturbance effect is one of the important factors for wind damage to large cooling towers.Existing studies on the wind-induced interference of cooling tower groups are aimed at the same size and the lack of wind-induced interference effects between cooling towers of different sizes.With the background of the additional cooling tower project at Shandong Luxi Power Plant in China,the rigid body pressure wind tunnel test is carried out to obtain 194 conditions for the three combinations of the existing four-tower combination(small size),the new two-tower combination(large size)and the six-tower combination surface wind pressure distribution.Numerical simulation of the surrounding flow field of the cooling tower group with the most unfavorable interference condition of the six-tower combination is conducted using the computational fluid dynamics(CFD)method.Based on this,the characteristics of the average and pulsating wind pressure distribution of the cooling tower surface under the six-tower combination are mainly studied,and the load interference coefficients of the large-sized cooling tower and the small-sized cooling tower under the three tower group combinations are compared.The velocity flow field and vorticity changes around the cooling tower group at unfavorable wind angles are analyzed,and the wind-induced interference mechanism between cooling tower groups of different sizes is mainly refined.Research shows that the interference effect between such cooling tower groups of different sizes is much larger than that of cooling tower groups of the same size,which is specifically manifested as the enhancement effect of small-sized cooling towers and the shielding effect of large-sized cooling towers.The interference coefficient of large-sized cooling tower groups increases by 28%,and the interference coefficient of small-sized cooling tower groups decreases by 6.4%.The airflow acceleration caused by the pinch effect between small-sized cooling tower groups has an adverse effect on large-sized cooling towers and can significantly increase the magnitude of local wind load.The shielding effect of large-sized cooling towers can reduce the overall wind load of small-sized cooling towers.The research conclusions can provide the basis of wind load value design for wind resistance design of such large cooling tower addition projects.
基金Supports from the Iowa Alliance for Wind Innovation and Novel Development (IAWIND)the National Science Foundation (NSF) (Grant No. CBET-1133751)
文摘An experimental study was conducted to investigate the effects of relative rotation direction on the wake interferences among two tandemwind turbines models.While the oncoming flow conditions were kept in constant during the experiments,turbine power outputs,wind loads acting on the turbines,and wake characteristics behind the turbines were compared quantitatively with turbine models in either co-rotating or counter-rotating configuration.The measurement results reveal that the turbines in counter-rotating would harvest more wind energy from the same oncoming wind,compared with the co-rotating case.While the recovery of the streamwise velocity deficits in the wake flows was found to be almost identical with the turbines operated in either co-rotating or counter-rotating,the significant azimuthal velocity generated in the wake flow behind the upstream turbine is believed to be the reason why the counter-rotating turbines would have a better power production performance.Since the azimuthal flow velocity in the wake flow was found to decrease monotonically with the increasing downstream distance,the benefits of the counter-rotating configuration were found to decrease gradually as the spacing between the tandem turbines increases.While the counter-rotating downstream turbine was found to produce up to 20%more power compared with that of co-rotating configuration with the turbine spacing being about 0.7D,the advantage was found to become almost negligible when the turbine spacing becomes greater than 6.5D.It suggests that the counter-rotating configuration design would be more beneficial to turbines in onshore wind farms due to the smaller turbine spacing(i.e.,~3 rotor diameters for onshore wind farms vs.~7 rotor diameters for offshore wind farms in the prevailing wind direction),especially for those turbines sited over complex terrains with the turbine spacing only about 1–2 rotor diameters.