Analysis on the Influence of Dynamic Aerodynamic Loads and Component

Vibration of Wind Turbine on Aeroelastic Characteristics

CHELIREM .Tayeb
(Departement of Physics, University of Skikda, Algeria)

Abstract：Through establishing the aeroelastic coupling analysis model, both the influence of coupling vibration between blades and
tower of a wind turbine on the blade root loads and the difference degree of blade root and tower bottom loads calculated by steady
and dynamic aerodynamic models are researched. To reflect the large elastic deformation and nonlinear vibration of the wind turbine,
‘super-element’ model is used to discretize the blades, tower and drive shaft into into a series of rigid bodies connected with joints,
springs and dampers. Then a multi-body system of the wind turbine is built. The Beddoes-Leishman(B-L) dynamic stall model is
introduced to the blade element momentum(BEM) model to investigate the dynamic characteristics of aerodynamic loads. By
adopting the theory
， of computational dynamics of multi-body system and wind turbine aerodynamic model, the aeroelastic coupling
equations of the constrained wind turbine are established. A 5-MW wind turbine is chosen as the research subject. Via changing the
constraint conditions, the effect of the wind rotor vibrations on the blade root aeroelastic loads is investigated. Using the steady and
dynamic aerodynamic models, the dynamic coupling effect of blade root and tower bottom loads is studied by comparing the steady
and dynamic aerodynamic models. The analysis indicates that the motions of of the components, such as the tower and drive shaft,
have significant effects on the blade root aeroelastic loads. And the blade dynamic stall characteristics can considerably affect the
blade root aeroelastic loads and fatigue loads spectrum. The research offers a foundation for the stable operation of wind turbine and
fatigue life design.
Key words：wind turbine；multi-body model；dynamic stall；aeroelastic coupling；Beddoes-Lesihman

。
introduction

As the unit capacity increases, components such as It is widely used in elastic analysis software [1]. Under
blades and towers unsteady conditions, the blade
The size and flexibility of the blades continue to increase, The angle of attack of the airfoil is time-varying, and the
and the blades often undergo large deformations. aerodynamic characteristics of the airfoil change with the
and vibration, obvious geometric nonlinear problems angle of attack.
occur. The leaves suffered The curve will have dynamic stall hysteresis characteristics
Aeroelastic coupling in which aerodynamic forces and [3], and the aerodynamic coefficient may
dynamic responses of unit components are coupled to Large deviations from static values, such as the joint test
each other wind turbine designed by NREL
The problem of coupling is becoming increasingly
prominent, with the vibration of the wind turbine blades Hysteresis in turn will cause greater vibration of the blades
and the vibration of the tower and main shaft leading to their fatigue life.
The aeroelastic coupling effect of wind turbines is caused shorten. Research by SHIPLEY et al. [5] shows that
by the air pressure experienced by the unit. dynamic stall can cause relatively
Aeroelastic mode is caused by the mutual coupling of Large aerodynamic load fluctuations. Due to the complexity
dynamic load, structural deformation and vibration. of flows, it is currently
The model includes blade aerodynamic load calculation Theoretically, there is no model that can accurately
and structural dynamic response analysis. exist determine the unsteady dynamic response of an airfoil.
Aerodynamic model part, blade element momentum In practice, semi-empirical calculation models based on test
theory (Blade element summaries are often used [6-7].
momentum, BEM) calculation results are more Including ONERA Edlin model[8], THEODERSON thin
reasonable and the solution is fast. wing model
In mainstream wind turbines such as HAWC2, FAST and
GH-Bladed,
dynamic coupling will affect the aeroelastic response of Optimized design of wind turbines, fatigue life criteria and
the unit, thereby affecting unit stability
Fatigue life and aeroelastic stability of the unit. The operation are of great significance [2].
vibration of the blade causes it to move At high wind speeds, there is a 15% to 20% deviation
When operating at a high angle of attack stall or even a between the design value and the actual value.
deep stall, the crew's air bomb The difference [4] is to reduce the energy output by about
The analysis requires accurate analysis of unsteady 20%. The delay of aerodynamic load
characteristics such as dynamic stall of the blade airfoil. model [9] and BEDDOES-LEISHMAN model [10-12], etc.
accurate simulation [1]. Therefore, it is necessary to in,
develop an effective and reliable aeroelastic coupling for The B-L model has been valued and recognized by
the unit researchers [13], Liu Xiong et al. [3, 6, 12]
A comprehensive analysis model is used to accurately
analyze the aeroelastic load of the blade. For large
 Analysis, blade aeroelastic load analysis and fatigue life
This model was used to study the dynamic stall design are important in
characteristics of the airfoil and reveal sex and necessity
shows its unsteady characteristics.
For the dynamic model of wind turbine system, the
currently commonly used construction 1-Multi-body dynamics model of the complete wind
Module methods include: Assumed mode shape method turbine
(Assumed mode shape With the help of the "super unit" model, the tower,
method, AMSM), finite element method (Finite element blades and main shaft
method, The flexible components are discretely divided into
FEM) and multi-body system method (Multi-body
system method,
universal joints with springs and dampers or
MBS) etc. [14]. Modern MBS methods take into account A multi-rigid body system connected by rotating
the flexibility of components in the system hinges [18-19]. In this way, each wind turbine
It is suitable for the mechanical construction of complex Lateral bending and torsional deformations of
systems including rigid bodies and flexible bodies. components can be reduced with less effort.
model[15]. MURTAGH et al. [16-17] established wind The degree is shown. This article uses R-W in
power through MBS method
computational multi-body dynamics
The dynamic equation of the whole machine system,
combined with the BEM aerodynamic model, The modeling method establishes a multi-body
The influence of the rotation of the wind wheel on the dynamics model of the entire wind turbine [20].
vibration of the tower and the dynamics of the whole 1.1 Discrete super unit model and complete machine
machine are numerically analyzed. Take the National Renewable Energy Laboratory
force response. For components with spatial movement (National Renewable Energy Laboratory)
and elastic deformation,
Energy Laboratory, NREL) launches 5 MW offshore
ZHAO et al. [18-19] introduced "super units" and
discretized them into several wind turbine
A rigid body connected through kinematic pairs, springs As the research object, super units are used to
and dampers, suitable for wind establish the topology of the wind turbine.
Mechanical modeling of components such as engine The flutter configuration is shown in Figure 1.
blades, towers and main shafts, while the nacelle,
Components such as wheel hubs are directly treated as
rigid bodies, and through multi-body dynamics theory
The nonlinear dynamics of the system can be established
with fewer degrees of freedom.
Procedure. Li Deyuan et al. [20] used computational
multi-body system dynamics theory and
Roberson-Wittenburg modeling method, combined with
BEM aerodynamics
model, the rigid-flexible multi-body aeroelastic coupling
equation of the entire machine was established, and the
The vibration modes and aeroelastic coupling time
domain response of the machine were numerically
analyzed.
Simulation Considering the dynamic coupling effect of
aerodynamic load, this paper enters the airfoil into
The airfoil vibration velocity and torsional deformation
are introduced in the calculation of flow angle and angle Figure 1 Topological model of the complete wind
of attack. turbine and inertial coordinate system XYZ
shape, based on the modified BEM model and From the research of Li Deyuan et al. [20], it can be
introducing the B-L dynamic stall model seen that the separation of the tower and blades
Calculate blade aerodynamic loads. The wind power
Discrete into 4 super units, and the main axis into two
established by applying the literature [20]
Based on the multi-body model of the machine, the rigid bodies, it can be compared
aeroelastic coupling equation of the system was In order to accurately simulate the natural frequency
established and the of the component and the aerodynamic load it is
The numerical solution method of the equation is subjected to,
implemented through the compiled Matlab program. load. The first rigid body consolidation of the hub and
A numerical analysis of aeroelastic coupling of a wind
spindle to simulate their relative
turbine system is performed. In the case analysis,
By setting different operating constraints, the tower, to the rotation of the engine room. The blades and the
The influence of vibration of main shaft and other hub are connected through a rotating hinge to form a
components on blade root aeroelastic load; through the Pitch motion of simulated blades. To reflect the offset
blade of the nacelle relative to the tower
Time domain of blade root aeroelastic load of static and It can handle navigation, pitching and side bending
dynamic aerodynamic models under high wind speed
movements, and the nacelle and tower are connected
Response comparison analysis reveals the impact of
dynamic aerodynamic models on wind turbine by spherical joints.
performance The first rigid body at the bottom of the tower is
consolidated with the support and is regarded as a
zero rigid body.
As a result, the wind turbine is divided into 54 rigid     σ  is the tension corresponding to the
bodies and 88 free bodies. constraint equation
A rigid-flexible hybrid multi-body system composed Grange multiplier matrix, T q
of This system is a tree system, with parameters The Φσ term represents all ideal approximations
According to the regular labeling method of multi- between rigid bodies.
body dynamics, each rigid body is Contribution to binding force. This equation together
Label, and establish the inertial coordinate system with the constraint equation (3) forms a closed
OXYZ at the center of the tower bottom. system of differential-algebraic equations.
According to the bending and torsion theory of The default stability method is used to solve this
elastic beams, each super single system of differential-algebraic equations.
The stiffness coefficient of the spring in the Partial generalized coordinates and Lagrange
element. Reference [16] lists various super multipliers as unknown variables, system of equations
Calculation expressions for the stiffness coefficients becomes a closed equation with a larger number of
of bending and torsion springs in stage elements, variables, and its matrix form is
The spring stiffness coefficient and damping
coefficient used in the calculation of this article are T 2 1 2q q q
as shown in the literature zZΦ
As shown in [20], this paper analyzes the natural σεΦ0
frequency and vibration shape of the unit, and  (5)
The results provided in literature [21] are In the formula,  ε Φ and 1
consistent, indicating that the established  ε Φ are called coordinate violation and velocity
mechanical model violation respectively.
type applicability and reliability. about. In the event of a breach of contract,
1.2 Constrained multi-body dynamics equations of corrections will automatically take effect. The
the whole machine system and their numerical constants  and The empirical value of  is between 5
values Solve and 50, and the response is stable when   
Taking the rotation of each hinge as the generalized Relatively fast. The basic idea of solving the above
coordinate ( ) t q , then from the multi-body system of equations is to first use the solution
The topological configuration of the system can be substitution
obtained by its generalized coordinate matrix as The numerical method of numerical equations solves
T equation (5) to obtain q  and σ, and then q 
1 2 88 Use numerical integration method to solve q and q.
( ) ( , , , ) t q q q  q  (1) In literature [20], by establishing
According to the general equation of dynamics in The aeroelastic coupling equation and numerical
the form of virtual work, the whole machine is solution method were used to analyze the operation
derived of the unit.
System of differential equations for body system Dynamic response under rated operating conditions,
dynamics simulation results and literature [21]
0 q  Z z  (2) provide
The generalized mass matrix Z and the generalized The steady-state calculation results are consistent,
force matrix Z are given in the literature [22] indicating that the coupling algorithm and simulation
The specific expression form and export method. results
Due to space limitations, this article effectiveness and rationality.
No more details. 2 Analysis of unsteady aerodynamic loads on blades
During the operation of the whole machine, it is During the operation of wind turbine blades, the
subject to various geometric or motion constraints. airflow along the blade span direction
bundle, if the number of independent constraint chordal flow, and produces flow separation and vortex
equations of the system is s, that is shedding, if the coupling
T1 2 , , , ) 0 s
ΦΦ Φ   Φ  (3)
Then only n s   among the independent
variables of the system are independent.
Combined with the dynamic equation (2), the
complete machine with Lagrange multipliers is
obtained

Dynamic equations of the system

T q q  Z Φσ z  (4)
In the formula, T
12
(,,,)s
Bending vibration (oscillation and flapping vibration) and Acts at the pneumatic center. Lift force acting on the
torsional vibration of closed blades aerodynamic center of rigid body Bi
Movement will cause unsteady aerodynamic effects on
FL, drag force FD and moment aero
the blades. unsteadiness of leaves
The effect can be achieved through modified blade M respectively are
momentum theory combined with B-L dynamic stall Li
FLlDi

model to numerically simulate the simulation. Attached flow can be simulated by superposition of
2.1 Modified leaf element momentum theory step responses. The total order
The blades of wind turbines are composed of a variety of
The influence of jump response on normal force
wings with different aerodynamic characteristics.
It is composed of a combination of shapes, generally consists of two parts, namely the ring quantity term
using blade momentum theory (Blade method
element momentum (BEM) to calculate the aerodynamic
load of the blade.
This paper introduces airfoil vibration into the calculation
of airfoil inflow angle and angle of attack.
and deformation, the BEM model was modified.
The large size of the 5 MW wind turbine increases the
flexibility and deflection of the blades.
If the deformation is large, the impact of vibration and
deformation on the aerodynamic load must be
considered.
This influence is reflected in the influence of blade
flapping and oscillation speed on the inflow angle  and
The effect of blade twist on the angle of attack , that is
(1 ) tan (1 ) e-op e-ip U a v r a' v      (6)
()αθt (7)
In the formula, e-op v. e-ip
v are the aerodynamic center flapping and
oscillating speeds respectively;
( ) t  is the torsion angle of the blade section.
Aerodynamic loads on conventional blades
In static analysis,  is the initial installation angle of
the airfoil section, which is generally not
changes over time. In this article, combined with
vibration analysis, at each time
The time-varying torsion of the airfoil section
around the blade axis can be calculated at any
time.
Angle () t , equations (6) and (7) reflect the
essence of aeroelastic coupling.
When calculating the aerodynamic load of the
blade, each discrete rigid body is considered
are composed of the same airfoil. It can be seen
from the leaf element theory that when each just
If the length of the body along the span is small
enough, the aerodynamic load will be evenly
distributed along the span.

and torque, i
l is the spanwise length of rigid body Bi.
in standard system
cos sin st N L D C C C     (9)
cos sin st T D L C C C     (10)
Considering the flow separation starting from the
trailing edge of the airfoil, from the attached flow,
Separated flow and dynamic eddies to describe the
B-L model, associated aerodynamic loads
The analysis is as follows.
2.2.1 Unsteady attached flow state
月 2016 年 7 月 李德源等：动态气动载荷和构件振动对风力机气弹特性的影响分析 167

拟叶片的变桨运动。为了反映机舱相对于塔架的偏 的经验值取在 5 到 50 之间，当  时稳定响应

航、俯仰以及侧弯运动，机舱与塔架采用球铰连接。 比较快。求解上述方程组的基本思想是先利用解代
塔架底部第一个刚体与支撑物固结，视为零刚体。 数方程的数值方法求解式(5)得到q 和 σ ，然后由 q
q
由此将风力机整机离散为由 54 个刚体、88 个自由  利用数值积分方法求解  q 和 。文献[20]中通过
度组成的刚-柔混合多体系统。该系统为树系统，参 建立
照多体动力学的规则标号方法，对每一个刚体进行 的气弹耦合方程和数值求解方法，分析了该机组在
标号，并在塔架底部中心建立惯性坐标系 OXYZ。 额定工况下的动力响应，仿真结果和文献[21]提供
根据弹性梁的弯曲和扭转理论，可得各超级单 的稳态计算结果相符，说明了耦合算法与模拟结果
元中弹簧的刚度系数。参考文献[16]中列出了各超 的有效性和合理性。
级单元中弯曲和扭转弹簧的刚度系数计算表达式， 2 叶片非定常气动载荷分析
本文计算用到的弹簧刚度系数以及阻尼系数如文献
[20]所示，该文分析了机组的固有频率和振型，与 风力机叶片工况运行过程中，气流沿叶片展向
文献[21]提供的结果相一致，说明所建立的力学模 和弦向流动，并产生流动分离和涡旋脱落，如果耦
型的适用性和可靠性。 合上叶片的弯曲振动(摆振与挥舞振动)和扭转振
1.2 带约束的整机系统多体动力学方程及其数值 动，将引起叶片的非定常气动效应。叶片的非定常
求解
效应可通过修正的叶素动量理论结合 B-L 动态失速
取各铰的转动为广义坐标 q(t) ，则从整机多体
模型来数值模拟仿真。
系统的拓扑构形可得其广义坐标阵为 2.1 修正的叶素动量理论
q(t)   (q , q2,,q88)1T (1) 根据虚功形 风力机的叶片由多种具有不同气动特性的翼
式的动力学普遍方程，导出整机多 型 组 合 成 而 成 ， 一 般 采 用 叶 素 动 量 理 论 (Blade
体系统动力学微分方程组 element momentum, BEM)来计算叶片的气动载荷。
  z   0
Zq (2) 本文通过在翼型入流角和攻角计算中引入翼型振动
 和变形，对 BEM 模型进行了修正。
文献[22]中给出了广义质量阵 Z 、广义力阵 z
5 MW 风力机尺寸大，柔性增加，叶片的挠曲
的具体表达形式和导出方法。由于篇幅所限，本文
不再赘述。 变形较大，须考虑其振动和变形对气动载荷的影响。
这种影响体现在叶片挥舞与摆振速度对入流角及
整机在运行过程中，要受到各种几何或运动约
叶片扭转对攻角的影响，即
束，若系统独立的约束方程个数为 s 个，即
U(1 a)  ve-
Φ   Φ ,Φ2,,Φs )T   0 (3) tan  )6(
op r(1  a')
1

则系统的独立的变量中只有    n  s 个为独立   ve-ip

的。 结合动力学方程式(2)，得到带拉格朗日乘子
α  θ (t) (7)
的整机 系统的动力学方程组
T 式中，ve-op 、ve-ip 分别为气动中心挥舞与摆振速度；
  Φ qσ   z
Zq (4)
(t)为叶片截面的扭转角。在常规叶片的气动载荷 静
式中，σ   ( , 2,,s )T 为与约束方程对应的拉 格
1
态分析中，为翼型截面的初始安装角，一般不 随
朗日乘子阵，ΦTq σ 项表示各刚体间所有理想约 时间变化。本文中，结合振动分析，在每一个时
束力的贡献。此方程与约束方程式(3)一起构成封闭 间步都可以计算出翼型截面绕叶片轴的时变的扭转
的微分-代数方程组。 角度(t)，式(6)、(7)体现气弹耦合的本质。
采用违约稳定法求解此微分-代数方程组，将 计算叶片的气动载荷时，将离散的每个刚体视
全 部广义坐标与拉格朗日乘子作为未知变量，方 为由同一种翼型构成。由叶素理论可知，当每个刚
程组 变为较大变量数的封闭方程，其矩阵形式为 体沿展向长度足够小时，气动载荷沿展向均匀分
 Φ ZT  
q  z  布，
q   
Φ    2  (5) 作用气动中心处。作用在刚体 Bi 气动中心的升力
 q σ   21   ε
0  
FL，阻力 FD 和力矩 Maero 分别为
式中，ε  Φ 和 ε1  Φ 分别称为坐标违约和速度违
FL   L li FD   D li Maero   M  li (8)
约。一旦出现违约，修正项自动起作用。常数和
式中，L、D 、M 分别为单位长度上的升力、阻力
和力矩，li 为刚体 Bi 展向长度。
 168 机 械 工 程 学 报 第 52 卷第 14 期期

2.2 Beddoes-Leishman 动态失速模型 式中，α I(t)   exp(t/TJ ) ；TJ   c/vc ；c 为翼型弦

动态失速会改变叶片的性能及载荷，使得最大 长；vc 为当地声速。
I
输出功率及最大叶片载荷同时出现，从而可能导致 法向力系数 CN 可由环量项 CCN和非环量项 CN
电动机过载和叶片损毁，因此在设计计算时必须考 叠加而成[3]
虑其影响。
CN (t)   CI N (t) CCN (t) (16)
丹麦 Ris 实验室针对风力机的翼型和实际运行
切向力系数 CT 由环量项决定
特点，忽略流动的可压缩效应和开始于前缘的流动
分离，使得修正的 B-L 模型变得更加简洁、实用 CT (t)   CNα (t)2E (17)
[12]
。 模型中采用固定在翼型上的坐标系，气动力系 2.2.2 非定常分离流状态 翼型表面的流动分离会导
数分
致环量损失，从而减
量是法向力系数 CN 和切向力系数 CT ，从静态的气
小气动力系数(相对于附着流而言)。分离点在翼型
动数据 CL 和 CD 出发，需要将其转化到气动中心坐 表面的位置可以用 f 表示，f   x/c 。x 是流动分
标系中 离点距翼型前缘的距离， c 为翼型弦长。由基尔霍
CNst   CL cos CD sin (9)
夫流动理论得到气动力系数与流动分离点之间的非
t s
C   CD cosCL sin(10) 考虑
T 线性函数关系式[3]
2
起始于翼型后缘的流动分离，从附着流、 1 f 
分离流和动态涡来描述 B-L 模型，相关的气动载荷 CN (t )=CNα (0 )   (18)
2 
分析如下。
2.2.1 非定常附着流状态 附着流可通过阶跃响应的 CT (t)=CNα (0 )tanf (19)
叠加来模拟，总的阶 静态情况下，气流流过翼型表面产生的流动分
跃响应对法向力的影响由两部分组成，即环量项法 离点可以通过式(18)、19)中，代入静态法向力系数
(
向力气动系数和非环量项法向力系数。 和静态实时攻角  反解求出一系列不同攻角的对应
由于攻角变化所产生的环量项法向气动系数 静态分离点。
C
CN ，具备迟滞性质，由式(11)表示 而非定常有效分离点较静态有效分离点存在
CNC (t)   CNα (E 0 ) (11) 迟滞现象，这种迟滞现象源于非定常状态下的瞬态
式中，E 为有效攻角；0 为零升力攻角；CNα 为 翼 效应。为获得动态流动分离点，采用一个一阶延迟
型静态法向力系数 CN 的斜率，是攻角和雷诺 方程来反映分离点相对于静态值的滞后[3]

系数 Re 的函数，可通过静态翼型特性曲线拟合得 df fs  f
到。有效攻角E 由式(12)表示 ds Tf (20)

E  n1  α (t)C  (12) 式中，fs 为有效分离点位置；Tf 为 s 空间的半经验

n1 为第 n1 C时间步时的翼型攻角，   n 时间常数，本文取 3.0 。 考虑非定常
[3]

n1 α (t)可由式(13)表示 压力迟滞响应后的攻角

C (t)
Cα (t)   A2  A exp(b
1 s) 1 A exp(b
0 2s) (13) f   N  0 (21)
CNα
式中，常数 A 1、A 、A
2 、b
1 和0b2 由理论分析结合 试
式中，CN 描述压力响应滞后对附着流法向力系数
验数据拟合优化获得，可取为 1.0、0.3、0.7、0.14、 [3]
的影响，可通过求解一阶延迟方程得到
0.53[3]，s 为量纲一时间参数
dC
N
(t) CN(t)C (t)
N
s   2(1 Ma2 )Wt (14)  (22)
ds Tp
式中，Ma 为马赫数；W 为相对风速；t 为翼型相 [3]
式中，Tp 为经验时间常数，本文取 1.7 。得到f 后，
对厚度。
通过对静态分离点的插值，得出有效分离点位置 fs
而翼型运动产生的非环量项法向力系数 CN I，
，求解式(20)得到动态分离点位置 f ，由式(18)、
具备脉冲特性，可由式(15)表示
I 4 I f
f
(19)得非定常分离效应后的法向力系数 CN 和切向

CN (t)   α (t)  (15) 力系数 CT 。此时，用有效攻角E 代替静态实时 攻

Ma
角。
月 2016 年 7 月 李德源等：动态气动载荷和构件振动对风力机气弹特性的影响分析 169

非定常分离流中，还要考虑涡流的产生和分离 所产
生的影响。涡流法向力系数的增量与非定常环
C
量项法向力系数 CN 和非定常分离效应后的法向力
f
系数 CN 的差成比例，可由式(23)表示
cv (t)   Cf N (t)CNC(t) (23)

同时，累积的涡流法向力系数随时间按指数规

律递减，但也有可能被新的涡流补充，因此涡流法
[3]
向力系数的变化规律可以表示为
dcv (t) v
v CN (t)
dC (t) ds (24)
N 
ds Tv
[3]
式中， Tv 为经验时间常数，本文取 6.0 。
涡流对切向力的影响，可由式(25)表示
CTv (t)   Cv N (t)f (1v ) (25)

式中，v 为量纲一时间参数，可由经验和试验数据
得到。
综上所述 图2 Beddoes-Leishman 模型计算流程图
，总的动态法向力系数和切向力系数
可由式 [3]
(26)、(27)表示
CNI (t)   Cv N (t)  CfN (t)  CNd (t) (26) 3 整机气弹耦合仿真程序设计
CTv (t)   Cf T (t)  CdT (t) (27) 整机气弹耦合方程是一个微分-代数非线性方
d d
得到翼型坐标系下的非定常气动系数 CN 和 CT 程组，需要采用数值积分进行求解。风力机在运行
后，将其投影到垂直和平行于风速的方向，加 的过程中，所受的空气动力将会使其结构产生弹性
上最小定常阻力系数 CD0 ，就可以得到动态升阻力 变形，而反过来，结构的变形又会影响其所受的空
d dd
系数 C 和 C 。
L D
d d 气动力。这样相互反馈影响，即气弹耦合影响。图
CL (t)   CN (t)cos CT (t)sin (28) 3 为整机多体系统动力学与气动载荷计算的耦合
过程。
CDd (t)  [CN (t)sin
d
CT (t)cos
d
] CD0 (29)
2.2.3 动态气动系数分析仿真程序的设计
动态气动系数模块是叶片气弹耦合模拟中 的
一个模块，数值计算流程如图 2 所示，参阅文 献
[3]。
在每个时间步，由上一步求解出的叶片各刚体
气动中心的挥舞、摆振速度和扭转角，再由修正的
叶素动量理论迭代计算出每个刚体当前时刻的入流
角与攻角，导入到 B-L 动态失速模块中，计算每个
时间步的动态升、阻力系数。然后，使用动态气动
系数计算出当前时刻的作用在各刚体上的动态气动 载荷，回代到气弹耦合仿真程序中，计算
图3 气弹耦合分析流程图
下一时刻
整机各刚体的姿态坐标，实现动态气动载荷与叶片 在本文的仿真试验中，以风轮的旋转中心主轴 为驱
的变形的耦合计算。若 t 大于仿真时间 tend ，则停止 动中心，施加匀角速绕主轴转动。为模拟额定
运算。 工况下的额定转速运动，在旋转中心施加约束
 170 机 械 工 程 学 报 第 52 卷第 14 期期

Φ   1q et   0 (30)
式中，广义坐标q 1 为叶根刚体相对于主轴的转动，
e 为额定转速。数值积分采用违约稳定法，式(5) 取
   10 ，本文仿真分析时取积分精度为 104 ，
输出积分步长为 0.001 s。

4 整机各部件振动对叶根载荷的影响

大型风力机在额定工况运行的过程中，整机所 受的气动载荷和机械载荷将会引起各部件较大的
变 形和振动，从而导致叶片、主轴和塔筒之间耦合愈 图5 轮毂中心的运动轨迹在 OXY 平面上的投影

加剧烈。定量分析叶根所受气弹载荷，对风力机的 和偏航运动，这两种运动将会产生较大的惯性力和
设计至关重要。 陀螺力，导致轮毂质心会沿着一个近似椭圆的轨迹
通过 Matlab 仿真平台，编制了风力机整机气 回旋运动。
弹 耦合模型数值求解的程序，使得整机多刚体系 图 6a 为两种模型在叶根处的挥舞力矩时域响
统模 型的构建与求解得以程序化。除了整机的运 应对比曲线，图 6b 为叶根处的摆振力矩时域响应
动分析 模块外，还有内力分析模块，可以分析整 对 比曲线。通过对比可知，整机各部件间的耦合
机危险截 面内力和变形。本节应用上述的整机气 对叶 根处的挥舞和摆振力矩影响显著。模型二较
弹耦合仿真 程序，对 NREL-5 MW 风力机采取两 模型一 在叶根的挥舞力矩下降 12.39%，摆振力矩
种不同的模型 进行定量对比分析。模型一为不考 下降 22.82%，其波动程度有一定程度的减小，见
虑塔筒、主轴以 及叶片间的耦合对叶根气弹载荷
表 1。 叶片的挥舞、摆振振动，机舱的偏航翘
的影响；模型二为 考虑塔筒、主轴以及叶片间的
起、偏航振 动，主轴的扭转振动，塔筒的前后左
耦合对叶根气弹载荷 的影响，即分析整机在工况
右弯曲振动，
下叶根气弹载荷。模型 一可视之为将塔筒、机舱
这些风力机各部件振动的复杂耦合，外加轮毂的运
的六个自由度全部约束， 轮毂与主轴只留下绕旋
转中心旋转的自由度，其余 的全部约束。两种不
同的模型均在转速为 12.1 r/min、风速为 11.4 m/s
的额定工况下进行仿真，分 析中采用的叶片结构
与气动参数可参看文献 [20-21]，采用违约稳定法
计算风力机系统的动力学 响应，仿真时间为 30
s。
图 4 为两种模型叶片 1 的第十个刚体截面翼型
攻角时域响应对比曲线，从图中易知模型二比模型
一攻角计算结果均值减小了 30%。图 5 为模型二的
轮毂运动轨迹在 OXY 平面的投影曲线，在风力机
工
况运行中，气动载荷及风轮自重会使其会产生翘起

图4 B10 刚体截面的翼型攻角时域响应对比曲线 图6 叶根挥舞力矩与摆振力矩时域响应曲线

月 2016 年 7 月 李德源等：动态气动载荷和构件振动对风力机气弹特性的影响分析 171

动扩展了叶片的运动空间，对叶片翼型的攻角产生 与静态气动载荷差别不大。为研究动态失速对风力
重要影响，从而使得计算得到的气动载荷也不同， 机气弹载荷的影响，取平均风速为 20 m/s 的风场来
最终导致了叶根力矩出现了较大差别。 模拟极端风场情况，以研究动态失速现象。分析中
表1 整机各部件耦合对叶根力矩的反馈程度
采用的叶片结构与气动参数可参考文献[20-21]，采

数据对比 模型一 模型二 相对差(%)

用违约稳定法计算风力机系统的动力学响应，仿真
叶根挥舞 均值 8.363×10
6
7.327×10
6
12.39
时间为 30 s。
力矩/(N•m) 方差 8.996×10
10
8.291×10
10
7.84 动态失速特性主要体现在升、阻力系数方面，
叶根摆振 均值 2.515×10
6
1.941×10
6
22.82 而其将影响气弹载荷，故须对风力机的危险截面(叶
力矩/(N•m) 方差 4.639×10
12
4.611×10
12
0.60 根载荷和塔底)的载荷进行定量分析。图 7a 为叶片
注：模型一指不考虑风力机各部件间的耦合对叶根载荷的影响；模 的第九个刚体 B9 的攻角时域响应对比曲线，图 7b
型二指考虑风力机各部件间的耦合对叶根载荷的影响；相对差指模型二
相比模型一的相对增量。
为该刚体的升力系数时域响应对比曲线。经统计，
动、静态模型 B9 刚体翼型攻角的均值约为 11°，相
风力机单机容量不断增加，叶片大型化趋势不
差不大，处于 DU21_A17 翼型的失速区域。由于动
可避免，而叶片重量对长度参数十分敏感，一般以
态失速延迟特性，动态升力系数极大偏离静态升力
几何级数增长。叶片重量增加，旋转过程中产生的
系数，最大偏离达到 31.87%，整体均值增大 6.5%。
重力交变载荷对自身、轮毂、机舱及塔架疲劳等都
有影响，特别是对叶片运输、安装、维护和报废拆
卸等叶片生命周期中的各个环节都将产生不利影
响。因此，通过选用新材料和结构优化等实施轻量
[22]
化设计势在必行 。充分考虑风力机的气弹耦合对
气弹载荷的反馈，准确地计算出符合实际情况的载
荷谱，对结构优化设计是十分必要的。

5 整机动、静态气弹载荷反馈对比

风力机在运行工况时，风场时刻变化，使得叶
片的翼型攻角是时变的。除此外，由于风力机各部
件的振动和变形，使得叶片的翼型攻角变化更加剧
烈，可能会出现动态失速。出现动态失速时，风力
机叶片的失速攻角会偏离静态失速攻角，翼型气动
特性随攻角变化的曲线也会出现迟滞现象，从而动
态升、阻力系数会极大偏离静态值。在进行风力机
运行工况模拟时，采用静态值计算，气弹载荷将会
被极大地低估，故进行动态气弹载荷计算是非常有
必要的。
风力机的动态气弹载荷分析可由上述编制的
图7 B9 刚体截面翼型的攻角与升力系数时域响应曲线
整机气弹耦合仿真程序计算，至于静态气弹载荷分
析，只需要将编制好的程序中的动态气动系数计算 动态气动系数的增大，直接影响叶片的受力情
模块去掉，采用静态气动参数，便可进行整机静态 况，图 8 为叶根挥舞和摆振力矩的时域响应曲线，
气弹载荷分析。本节分析模型依然选择 NREL-5 图 9 为塔底的前后弯曲的侧向弯曲力矩的时域响应
MW 模型，在额定转速 12.1 r/min 下进行风力机气 曲线。表 2 为风力机危险截面所受载荷的定量分
弹耦合响应分析。参考文献[20]可知，其在额定风 析统计，从表中可以看出，叶根和塔底所受载荷
速为 11.4 m/s 工况下运行时，叶片展向各截面的攻 均有不同程度的增加。这是由于风力机在 20 m/s 的
角变化范围都处于线性区域，未发生动态失速，静 工况下工作时，叶片展向大部分区域处于失速状
态气动系数与动态气动系数接近，故动态气弹载荷 态，动态升力系数显著增加，从而导致动态气弹载
172 机 械 工 程 学 报 第 52 卷第 14 期期

荷增加。 表2 风力机危险截面的载荷分析
静态数据/ 动态数据/ 相对差
力矩
(N•m) (N•m) (%)
叶根挥舞 均值 1.13×107 1.19×107 5.3
11
力矩 方差 6.39×10 11 4.81×10 24.7

叶根摆振 均值 4.43×106 4.64×106 4.7

力矩 方差 9.43×10 12 8.64×1012 8.4
塔底前后 均值 6.73×107 7.44×107 10.5
15
1.10×10 9.1
弯曲力矩 方差 1.21×1015
塔底侧向 均值 1.47×10 7 1.54×107 4.8
13
弯曲力矩 方差 1.75×1013 3.57×10 104

注：相对差是指动态数据相比静态数据的相对增量。

风力机在气动力、重力、惯性力和陀螺力等交
变载荷的联合作用下，容易产生疲劳失效。叶片是
风力机尤为重要的部件，叶片和轮毂组成的风轮是
风能捕获机构，并将风能转化为机械能。引入动态
失速模型，能较为精确地计算出符合实际的载荷谱，
对风力机的疲劳分析、寿命计算以及结构的优化设
计都十分重要。

6 结论

本文基于多体系统的建模方法，应用多体系统

图8 叶根挥舞力矩与摆振力矩的时域响应曲线 动力学和空气动力学，建立了大型风力机的气弹耦
合模型并开发了仿真程序。通过对整机系统施加不
同的约束条件，定量分析了风轮与其他构件耦合振
动对叶根载荷的影响；引入动态失速模块，研究了
动态失速延迟特性对风力机危险截面载荷的反馈。
算例分析得出以下结论。
(1) 塔架、主轴等构件的变形振动，引起轮毂
的运动，会较大地影响叶根的气弹载荷，卸载效应
较明显，各部件间运动的耦合，使得叶根处的载荷
明显降低。算例中，挥舞和摆振力矩均值分别下降
了 12.39%和 22.82%，而方差的减少表明载荷的变
化幅度减小，影响疲劳载荷谱。设计风力机时，须
予以充分的考虑。
(2) 进入失速工况后，动态失速延迟特性对叶
根和塔底的气弹力矩也有显著的影响，使得风力机
危险截面的载荷较静态计算结果偏大。在复杂的工
况环境中，动态失速现象时刻存在，准确地计算动
态耦合情况下的载荷谱对风力机构件的强度和疲劳
寿命分析是十分必要的。
(3) 翼型动态特性对叶片的气动阻尼也有重要
的影响，从而影响叶片乃至整机的气弹稳定性，本
文所建立的气弹耦合模型为进一步从时域和频域响
应来分析柔性叶片的气弹阻尼和气弹稳定性打下了
图9 塔底前后弯曲力矩与侧向弯曲力矩的时域响应曲线 基础。
月 2016 年 7 月 李德源等：动态气动载荷和构件振动对风力机气弹特性的影响分析 173

，
[14] ZHANG P HUANG S. Review of aeroelasticity for wind
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et al. State of the art in wind turbine aerodynamics and [15] LEE Jong-Won，LEE Jun-Seong，HAN Jae-Hung，et al.
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