Digital twin technology for wind turbine towers based on joint load–response estimation: A laboratory experimental study

Abstract

An accurate estimation of dynamic loads and structural dynamic responses is deemed an indispensable prerequisite for developing trustworthy digital twin (DT) models of dynamically excited structures. Traditional joint load–response estimation (JLRE) algorithms necessitate a full-rank feedthrough matrix, implying that accelerometers are required at all degrees of freedom with input loads. If an unknown input is a bending moment or torque, the rotational acceleration must be measured, which is usually difficult, if not impractical, in real applications. Therefore, the applications of the traditional JLRE in wind turbines (WTs) are rather limited due to the complex excitation mechanism. However, the unified linear input and state estimator (ULISE) algorithm presented in this paper eliminates this constraint. This paper experimentally tested this algorithm on an operating 1:50 scaled WT model. The influences from blade rotation were considered. A comprehensive structural health monitoring (SHM) sensing system was deployed on the WT tower to measure the tower's dynamic responses. A camera system, which integrated digital image correlation (DIC) technology and binocular stereo vision technology, was also adopted. The unknown excitations and unmonitored dynamic responses of the WT tower were estimated simultaneously using the ULISE algorithm. The reconstructed strain and acceleration responses achieved high accuracy, with a normalized root mean square error less than 9%. The blade rotation had a notable impact on the WT tower, primarily manifested as a bending moment whose dominant frequency was corresponding to the blade's rotational speed. Such joint estimations could function as the virtual sensing of unknown inputs and responses in the DT model of the WT tower, which will enable DT-based online remote structural condition assessment and preventive maintenance in the future.