基于Kalman 滤波海上风机结构健康监测 研究

大型土木工程结构的疲劳分析和结构健康监测日益成为关注焦点，如
何通过有限个传感器测量数据实现结构整体动力响应估计和结构外载荷估
计成为一项具有挑战性的任务。随着海上风电的日益发展，由于海上风机
纤长的结构特点和复杂、具有一定周期性的风、浪、流环境载荷，使得海
上风机结构的疲劳分析和结构健康监测成为重要课题。
本文主要提出了用于海上风机结构整体响应估计与分布载荷识别的算
法，该算法目的是实现风机整体结构动力重构，为疲劳分析和结构健康监
测提供依据。
本文首先分析了引起风机结构振动的主要环境载荷及其计算方法、振
动理论和基于Kalman 滤波的Joint input-state estimation 算法，之后在该算
法的基础上，提出了分两步实现结构整体动力响应估计和分布载荷估计的
算法。由于到海上风机常见的环境载荷多为分布载荷，新算法首先将适用
于多个集中力载荷的原算法推广至分布载荷情形， 提出了模态等效力法用
于估计结构整体动力响应，悬臂梁的数值算例结果验证了模态等效力法的
有效性。然后分析了海洋环境载荷的时空解耦特性，在已经估计得到的模
态等效力基础上， 提出了利用切比雪夫多项式近似分布载荷分布函数的方
法，该方法通过有限元模型下分布载荷的比例特性，利用相互存在比例关
系的模态等效力实现分布函数的切比雪夫多项式近似，该算法成功运用于
平面悬臂梁和空间悬臂梁的数值算例中，通过多个传感器测量数据，得到
了悬臂梁整体的动力响应、分布载荷、固定支座反力较为满意的估计结果。
最后将算法运用于一个单桩式海上风机的数值计算中，利用Sesam 中的
Sima 对单桩式海上风机进行建模，并计算了6 种载荷组合情形下的结构动
力响应，并对模态等效力法进行了验证。

Fatigue analysis and structural health monitoring of large -scale civil
engineering structures have increasingly become the focus of attention . How to
estimate the global dynamic response and the load of the structure through the
measurement data from a limited number of sensors has become a challenging
task. With the increasing development of offshore wind turbine, the fatigue
analysis and structural health monitoring of offshore wind turbine structures has
become an important topic due to the slender structural characteristics of offshore
wind turbines and periodic wind, wave and current loads.
This paper mainly proposes an algorithm for the estimation of the global
response and distributed load of offshore wind turbine. The purpose of this
algorithm is to reconstruct the global dynamic response of the structure and
contribute to fatigue analysis and structural health monitoring.
This paper firstly analyzes the main environmental loads that cause the
vibration of the offshore wind turbine and loads calculation method, vibration
theory and the joint input-state estimation algorithm based on Kalman filter.
Based on the Joint input-state estimation algorithm, this paper proposes an
algorithm to estimate the global dynamic response and distributed load of the
structure in two steps. Considering that the environmental loads of offshore wind
turbines are mostly distributed loads, the new algorithm firstly extends the
original algorithm suitable for multiple concentrat ed force to the distributed load
case, and proposes modal equivalent force method to estimate the global dynamic
response of the structure. The numerical example of the cantilever beam verifies
the effectiveness of the modal equivalent force method. Then, by analyzing the
space-time decoupling characteristics of distributed loads, on the basis of the
estimated modal equivalent force, a method for approximating the distribution
function of distributed loads using Chebyshev polynomials is proposed . This
method mainly considers the proportional characteristics of the distributed load
under the finite element model, and gets the Chebyshev polynomial
approximation of the distribution function by using the modal equivalent forcesthat have a proportional relationship with each other. The algorithm was
successfully applied to the numerical examples of 2D cantilever beam and 3D
cantilever beam. Using the measurement data of multiple sensors, satisfactory
estimation results of the global dynamic response, distributed load and reaction
force of the cantilever beam are obtained. Finally, the algorithm is applied to a
numerical example of a monopile offshore wind turbine modeled by Sima
(Sesam). The dynamic responses of the structure under six load combinations are
calculated, and the modal equivalent force method is properly verified.

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