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Combination of Two-Stage Optimized Active Control of Edgewise vibrations of Wind Turbine Blades by using Robotic Arms

Behzadi, Mohammad Amin | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56984 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Moradi, Hamed
  7. Abstract:
  8. Renewable energies and their various types have been recognized as sustainable solutions to address the challenges arising from increasing energy consumption and environmental issues. The use of wind energy as one of the renewable energy sources has particular advantages, considering it as one of the most sustainable energy sources. One of the key factors in wind turbine development is the diversity and multiplicity in their structural designs. Therefore, the design of wind turbine structures with characteristics such as suitable strength, high energy efficiency, optimal cost, and high reliability is of great importance. By employing various sciences such as vibrations and optimization in structural design, these turbines will be able to increase energy conversion rates with better efficiency. Therefore, vibration control of wind turbines is considered one of the main and innovative research topics in this field. Unintended vibrations in wind turbines can lead to a decrease in their efficiency and useful life. Therefore, conducting research in vibration control enables the improvement of the efficiency and lifespan of wind turbines. Through research in structural design and vibration control, the performance and efficiency of wind turbines can be improved. For example, when the dimensions of wind turbines increase, the turbine blades become more flexible and are subjected to vibrations caused by external wind loading and structural interactions. The main vibration modes for wind turbine blades are flapwise and edgewise vibrations, among which edgewise vibrations are of higher importance because this type of vibration may be slower or have negative damping, leading to severe vibrations in the turbine blades. Nowadays, the use of robotic arms in intelligent control has remarkable applications. In this thesis, efforts have been made to reduce edgewise vibrations by employing various actuators at different points of the turbine blades and optimizing their locations. In this study, a mechanism for placing control actuators has been proposed, and a dynamic and vibration model has been extracted for the wind turbine blade considering its point mass. In the next step, in the first phase, control has been fully achieved for the entire vibration system by using two control models (adaptive sliding mode control and robust sliding mode control algorithm), and then in the second phase, control has been applied to individual support points separated by robotic arms with different boundary conditions. Finally, in the results section, it is shown that the system vibrations have been completely controlled in the first and second phases
  9. Keywords:
  10. Renewable Energy Resources ; Wind Turbine ; Blade Vibrations ; Dynamic Modeling ; Adaptive Control ; Turbine Blade Vibrations Control ; Sliding Mode Control ; Robotic Arm Control

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