Fatigue testing device for wind turbine blade testing, a method of testing wind turbine blades and a control system for a blade testing actuator
The invention provides a fatigue exciter for wind turbine blades. Wind turbine blades require excitation at or near their natural frequency to induce bending moments that simulate in service loadings and must be easily controllable and with the minimum of unnecessary added mass or force. The invention provides a device and a method by which force controlled feedback is used for finding an optimal excitation frequency. This force could be provided e.g. by a digital signal generator.
1. A fatigue testing device for wind turbine blade testing, the device comprising:
an actuator configured to deflect the blade at an excitation frequency, a first sensor configured to sense an input force to the blade from the actuator, a second sensor configured to sense an amplitude of deflection of the blade due to the actuator, and a control system in communication with the actuator and the first and second sensors, the control system including a controller,
the control system configured to monitor the amplitude of the blade as sensed by the second sensor, to find an initial natural frequency of the blade based on the amplitude of the blade sensed by the second sensor, and to set the excitation frequency of the actuator to the initial natural frequency,
the control system further including a frequency modulation algorithm and being further configured to modulate the excitation frequency so that the excitation frequency is repeatedly swept forwards above and backwards below the initial natural frequency, and
the control system being configured to find a subsequent natural frequency to set the excitation frequency to by, during modulation of the excitation frequency, monitoring blade amplitude via the second sensor and the input force of the actuator necessary to produce a desired blade amplitude via the first sensor, and if the necessary input force decreases during forward sweeping of the excitation frequency, to continue forward sweeping of the excitation frequency, and if the necessary input force increases during forward sweeping of the excitation frequency, to cause backward sweeping of the excitation frequency.
2. A device according to claim 1 , wherein the control system is configured to bring a blade under test up to an initial load at an initial frequency within 10 percent under the blade's recorded initial natural frequency.
3. A device according to claim 2 , wherein the initial natural frequency is determined by a pre-test frequency sweep.
4. A device according to claim 1 , further configured to determine a ratio between the input force and the amplitude.
5. A device according to claim 4 , being further configured, during modulation of the excitation frequency, to provide an input signal significant of an increase or decrease of the input force necessary to deflect the blade and to provide an output signal significant of the amplitude of the deflection and further configured to select an excitation frequency based on the ratio, the input signal, or the output signal.
6. A device according to claim 1 , wherein the actuator is arranged not to influence the natural frequency of the blade.
7. A device according to claim 6 , wherein the actuator is supported without weighing down the blade.
8. A fatigue testing device according to claim 1 , further comprising at least one strain sensitive structure being attachable to the blade, the device being further configured to modulate the excitation frequency based on a signal generated by the strain sensitive structure.
9. A fatigue testing device according to claim 1 , further comprising an additional actuator configured to deflect the blade at an additional excitation frequency.
10. A fatigue testing device according to claim 9 , wherein the additional excitation frequency is adjustable.
11. A fatigue testing device according to claim 10 wherein the additional excitation frequency is adjustable independently of the excitation frequency.
12. A fatigue testing device according to claim 1 , comprising fixation means for fixation of a first portion of the blade to a first external object.
13. A fatigue testing device according to claim 12 , further comprising additional fixation means for fixation of a second portion of the blade to the first external object or a second external object.
14. A fatigue testing device according to claim 12 , wherein at least one of the fixation means is adjustable to allow fixation at different locations along the blade.
15. The fatigue testing device according to claim 1 , further comprising at least one optical sensor, the device being further configured to modulate the excitation frequency based on a signal generated by the optical sensor.
16. The fatigue testing device according to claim 1 , further comprising at least one laser displacement sensor, the device being further configured to modulate the excitation frequency based on a signal generated by the laser displacement sensor.
17. The fatigue testing device of claim 1 wherein the control system is configured to modulate the excitation frequency so that the excitation frequency is continuously swept forwards above and backwards below the initial natural frequency of the blade.
18. A fatigue testing device for wind turbine blade testing, the device comprising an actuator configured to deflect the blade at an excitation frequency, a first sensor configured to sense an input force to the blade from the actuator, a second sensor configured to sense an amplitude of deflection of the blade due to the actuator, and a control system in communication with the actuator and the first and second sensors, the control system including a controller,
the control system configured to monitor the amplitude of the blade as sensed by the second sensor, to find a natural frequency of the blade based on the amplitude of the blade as sensed by the second sensor, and to set the excitation frequency of the actuator to the natural frequency,
wherein the control system further includes a frequency modulation algorithm and is further configured to find the natural frequency by modulation of the excitation frequency,
the control system being further configured, during modulation of the excitation frequency, to provide an input signal significant of an increase or decrease of the input force necessary to deflect the blade and to provide an output signal significant of the amplitude of the deflection,
wherein the control system is further configured to select a subsequent excitation frequency based on a ratio between the input force and the amplitude, the input signal, or the output signal,
wherein the selection facilitates a minimal ratio between the input force and the amplitude.
19. A method of testing a wind turbine blade, the blade having a hub end and a tip end, the method comprising the steps of:
fixating the blade to a bench,
providing an input force for an actuator to apply, at an excitation frequency, a cyclic load to the blade at a location at a distance from the hub end,
modulating the excitation frequency so that the excitation frequency is repeatedly swept forwards above and backwards below an initial natural frequency of the blade,
determining an amplitude of movement of the blade,
modulating the input force during modulation of the excitation frequency to maintain a desired blade amplitude, and
selecting a subsequent excitation frequency based on a ratio between the input force and the amplitude,
wherein the step of selecting the subsequent excitation frequency further comprises monitoring the blade amplitude and the input force of the actuator necessary to produce the desired blade amplitude, and if the necessary input force decreases during forward sweeping of the excitation frequency, to continue forward sweeping of the excitation frequency, and if the necessary input force increases during forward sweeping of the excitation frequency, to cause backward sweeping of the excitation frequency.
20. A method according to claim 19 , wherein the steps of modulating the excitation frequency, determining the blade amplitude, modulating the input force, and selecting the subsequent excitation are repeated several times during a test of a blade.
21. The method of claim 19 wherein the step of modulating the excitation frequency comprises modulating the excitation frequency so that the excitation frequency is continuously swept forwards above and backwards below the initial natural frequency of the blade.
22. A control system for controlling a testing device for a wind turbine blade, the testing device comprising an actuator configured to deflect the blade at an excitation frequency, a first sensor configured to sense an input force to the blade from the actuator, and a second sensor configured to sense an amplitude of deflection of the blade due to the actuator, the control system being in communication with the actuator and the first and second sensors and including a controller, and being configured to monitor the amplitude of the blade as sensed by the second sensor, to find an initial natural frequency of the blade based on the amplitude of the blade as sensed by the second sensor, and to set the excitation frequency of the actuator to the initial natural frequency, the control system further including a frequency modulation algorithm and being further configured to modulate the excitation frequency so that the excitation frequency is repeatedly swept forwards above and backwards below the initial natural frequency of the blade, to determine the amplitude of the blade via the second sensor, to modulate the input force during modulation of the excitation frequency to maintain a desired blade amplitude, and to select a subsequent excitation frequency based on a ratio between the input force and the amplitude, wherein the control system being configured to select the subsequent excitation frequency further comprises the control system being configured to monitor the blade amplitude via the second sensor and the input force of the actuator necessary to produce the desired blade amplitude via the first sensor, and if the necessary input force decreases during forward sweeping of the excitation frequency, to cause continued forward sweeping of the excitation frequency, and if the necessary input force increases during forward sweeping of the excitation frequency, to cause backward sweeping of the excitation frequency.
23. The control system of claim 22 wherein the control system is configured to modulate the excitation frequency so that the excitation frequency is continuously swept forwards above and backwards below the initial natural frequency of the blade.