CN102966486A - Variable characteristic curve controlling method for float-type wave power generation device - Google Patents
Variable characteristic curve controlling method for float-type wave power generation device Download PDFInfo
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- CN102966486A CN102966486A CN2012104970510A CN201210497051A CN102966486A CN 102966486 A CN102966486 A CN 102966486A CN 2012104970510 A CN2012104970510 A CN 2012104970510A CN 201210497051 A CN201210497051 A CN 201210497051A CN 102966486 A CN102966486 A CN 102966486A
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention belongs to the technical field of ocean utilization and renewable energy power generation, and relates to a variable characteristic curve controlling method for a float-type wave power generation device. The method comprises the steps that a torque-rotating speed curve of the float-type wave power generation device is obtained by an experiment or emulation; suppose the slope of a first part linear ascending zone of the curve is K, when the curve is controlled, a wave period and a wave elevation of the current ocean wave are collected; the value of the K is calculated according to a relation between the wave period and the square of the value that wave input power is in direct proportion to the wave elevation; the torque-rotating speed curve of the float-type wave power generation device is modified; then a motor torque corresponding to measured motor speed is obtained through a look-up table method according to the measured motor speed, and regarded as a reference electromagnetic torque; corresponding reference output power is determined according to the reference electromagnetic torque; and the actual output power of the float-type wave power generation device is controlled according to the reference output power value. The controlling method has the advantages of simple principle, high reliability and convenience in achievement.
Description
Affiliated technical field
The invention belongs to the marine utilization and renewable energy power generation field, be specifically related to the controlling method of float type seawave power generation device.
Background technique
Environmental pollution and energy crisis are two large common difficulties of world today's development.Greatly develop the generation of electricity by new energy modes such as wind-power electricity generation, seawave power generation, tidal power generation, geothermal power generation; realize that the change of energy conversion mode and the raising of utilization ratio thereof are important means that solves this two large problems; environmental protection and the energy Sustainable Exploitation current for China have very important effect, have significant economic and social benefit.Wave power generation device is large because of its generating memory space, and economic potentiality is good, and high safety has become the study hotspot that regenerable marine energy generates electricity.Catch for the maximum wave energy that realizes float type seawave power generation device, the present controlling method of studying comprises: Reactive control, latch control, intelligent control etc.The Reactive control strategy is more simple and reliable in theory, but for the disresonance type Wave power generation device, the function that not only needs to generate electricity runs on motoring condition, and requires the following wave information constantly of precognition.Latch the specific occasion that the most suitable outside wave power of control strategy can be caught in any direction, and in vertical one direction energy absorbing float type seawave power generation device, latch control and be only applicable in the length of one-period.The advantage of intelligence control method (fuzzy control, ANN (Artificial Neural Network) Control etc.) is parameter time varying and the factor such as non-linear that can overcome sea wave power generation system; Deficiency is research association's more complicated of simulating human intelligency activity and control and information exchanging process, and the software and hardware of control system is had relatively high expectations.
Summary of the invention
The present invention is directed to above problem, a kind of new maximum wave energy capture control method that is applicable to float type seawave power generation device is provided, the method control principle is simple and be convenient to realize.The present invention uses for reference the Advanced Control Techniques in the wind-power electricity generation---maximum power tracing method, improved change characteristic curve controlling method is proposed, by selecting the controller of suitable parameter and simplicity of design, can make the method when significantly reducing the maximum electromagnetic torque variance ratio (namely reducing torque ripple) of Wave power generation device, the torque output performance that the assurance system is good, stable.Technological scheme of the present invention is as follows:
A kind of change characteristic curve controlling method of float type seawave power generation device, the method at first by experiment or emulation obtain the torque-speed curves of float type seawave power generation device, if the slope of the linear rising area of the first portion of this curve is K, when controlling, at first gather wave period and the wave height of current wave, be proportional to according to the wave input power wave height the quadratic sum wave period concern the calculating K value, revise the torque-speed curves of float type seawave power generation device, and then according to measured motor speed, obtain the corresponding motor torque of measured motor speed by look-up table, it is considered as reference electromagnetic torque, obtain corresponding reference output power according to reference electromagnetic torque, control again the real output of float type seawave power generation device according to the reference output power value.
As preferred implementation, in the technique scheme, according to the reference output power value, in conjunction with the PID controller, generate the dutycycle that the PWM ripple changes IGBT in the voltage source converter, thus the control real output.
Beneficial effect of the present invention is as follows:
1) this controlling method principle is simple, is convenient to realize, reliability is high.
2) this controlling method real-time is good, can satisfy the requirement of quick control.
3) on the basis of the method, after selecting suitable systematic parameter and using the PI controller, not only can guarantee higher output power, and can effectively reduce the electromagnetic torque variance ratio of Wave power generation device.
4) this controlling method does not need the wave information of predict future, and is less demanding to generator and other software and hardware.
5) this controlling method direction that wave power device is caught outside wave power does not require, and not only is applicable to float type seawave power generation device, also is adapted at using in the Wave power generation device of other types, and practicability is stronger, and application area is wider.
Description of drawings
Fig. 1 is the float type seawave power generation device schematic representation.
1 is buoyancy aid, the 2nd among the figure, balance buoyancy aid, the 3rd, pulley, the 4th, cable, the 5th, input shaft, the 6th, clutch, the 7th, output shaft, the 8th, flywheel, the 9th, permagnetic synchronous motor, the 10th, AC-DC-AC transducer.
Fig. 2 is the performance plot that becomes the characteristic curve controlling method.Among the figure, become characteristic curve and be divided into three parts: (1) linear rising area; (2) Heng Zhuanjuqu; (3) Heng Gongshuaiqu.
Fig. 3 becomes the electrical system allocation plan of characteristic curve controlling method and the reduced representation figure of motor and controller.
Fig. 4 is the flow chart that becomes the characteristic curve controlling method.
Embodiment
The present invention will be described below in conjunction with drawings and Examples.
Fig. 1 is a typical float type seawave power generation device structural drawing.With reference to Fig. 2, Fig. 3, Fig. 2 is the performance plot of the change characteristic curve controlling method that proposes of the present invention.The torque reference T of the linear rising area of the first portion of this curve
RefCan be expressed as:
In the formula, ω
rBe motor speed, ω
RateBe the rated speed of motor, T
RateBe nominal torque, K is slope of a curve.Second portion is permanent torque control zone, its torque reference T
Ref=T
RateThird part is Heng Gongshuaiqu, and its torque reference can be expressed as:
P in the formula
RateBe rated power.Can find out that this three part is all relevant with K, it is controlling rising area T
RefVariance ratio, therefore also determined the value of Heng Zhuanjuqu and Heng Gongshuaiqu.K is less than 1 o'clock, T
RefJust can not reach T
Rate, and when K is very large, the intersection point of linear rising area and Heng Zhuanjuqu is moved to left.Therefore, the K value has affected the control performance that becomes the characteristic curve controlling method, for the wave electric power system of different waters, different wave period and height, can automatically select suitable K value according to the experimental result of different K values, makes the best results of controlling method.Among Fig. 2, the automatic variation of K value be proportional to wave height H according to the wave input power quadratic sum wave period T (namely
) this relation, thereby by system acquisition to H and T, calculate corresponding rated power P
Rate, and then obtain with reference to nominal torque T
Ref
Fig. 3 has provided the electrical configurations that becomes the characteristic curve controlling method.Among Fig. 3, T
eBe electromagnetic torque estimated value, T
mBe input torque, J is electric machine rotation inertia, and P is output power of motor.
The present invention adopts SCM Based measuring methods for rotary speed of electromotor, fix the optical code disk in 60 holes at the axle of motor, to be modulated into from the constant light of infrared-emitting diode time dependent light pulse, and then adopt photoelectric switching circuit to convert light pulse to electrical pulse.Timer internal T with the M430F149 single-chip microcomputer
1Be set as definition status (placing 1s), timer internal T
0Adopt the external counting state, then use the T of M430F149
0Measured signal electrical pulse m in the record unit measurement time, and the rising edge of the initial time of assurance measurement time and certain pulse of measured signal is synchronous, uses the T of M430F149 again
1Record from finish time unit time to the time Δ t the measured signal next pulse rising edge.So just can be at t=(10
6+ Δ t) in measured signal m complete cycle under the interior accurate recording of μ s, tested rotating speed is n=m/t.Wherein, the effect of two external interrupt INT1 and INT0 is control T
1And T
0(INT1 controls T for simultaneously timing and counting
1, INT0 controls T
0).
Fig. 4 is for becoming the flow chart of characteristic curve controller.At first with motor speed ω
rFeed back to and become the characteristic curve control module, in conjunction with the change characteristic curve relation as shown in Figure 2 of automatically being set up by the H that detects and T value, that searches correspondence arrives reference electromagnetic torque T
RefIf T
Ref=T
e, then directly according to T
RefCorresponding reference power P
RefDirectly control the IGBT dutycycle of motor side through the PID controller; If T
Ref≠ T
e, then make T
RefBe electromagnetic torque T
e, by ω
r, T
eThe output power P of computing reference
Ref, according to P
RefValue in conjunction with pid control algorithm, produces the PWM ripple and makes that the dutycycle of IGBT reaches reference value in the voltage source converter, thus the actual output power value of control.
Claims (2)
1. the change characteristic curve controlling method of a float type seawave power generation device, the method at first by experiment or emulation obtain the torque-speed curves of float type seawave power generation device, if the slope of the linear rising area of the first portion of this curve is K, when controlling, at first gather wave period and the wave height of current wave, be proportional to according to the wave input power wave height the quadratic sum wave period concern the calculating K value, revise the torque-speed curves of float type seawave power generation device, and then according to measured motor speed, obtain the corresponding motor torque of measured motor speed by look-up table, it is considered as reference electromagnetic torque, obtain corresponding reference output power according to reference electromagnetic torque, control again the real output of float type seawave power generation device according to the reference output power value.
2. controlling method according to claim 1 is characterized in that, according to the reference output power value, in conjunction with the PID controller, generates the dutycycle that the PWM ripple changes IGBT in the voltage source converter, thus the control real output.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107701361A (en) * | 2017-10-23 | 2018-02-16 | 广东工业大学 | A kind of wave-activated power generation method and system |
| CN108301963A (en) * | 2018-01-24 | 2018-07-20 | 东南大学 | A kind of ocean wave power generation device control method based on moving average analysis model |
| CN110138286A (en) * | 2019-07-02 | 2019-08-16 | 哈尔滨理工大学 | A kind of permanent-magnetic-switch flux linkage motor and method for controlling torque |
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| US5652485A (en) * | 1995-02-06 | 1997-07-29 | The United States Of America As Represented By The Administrator Of The U.S. Environmental Protection Agency | Fuzzy logic integrated electrical control to improve variable speed wind turbine efficiency and performance |
| US20070120369A1 (en) * | 2005-11-29 | 2007-05-31 | General Electric Company | System and method for utility and wind turbine control |
| CN101737240A (en) * | 2010-03-03 | 2010-06-16 | 天津大学 | Float type seawave power generation device |
| CN102545762A (en) * | 2011-12-20 | 2012-07-04 | 河海大学 | Method for controlling a direct-drive wave power generation system |
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2012
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Patent Citations (4)
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| US5652485A (en) * | 1995-02-06 | 1997-07-29 | The United States Of America As Represented By The Administrator Of The U.S. Environmental Protection Agency | Fuzzy logic integrated electrical control to improve variable speed wind turbine efficiency and performance |
| US20070120369A1 (en) * | 2005-11-29 | 2007-05-31 | General Electric Company | System and method for utility and wind turbine control |
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| CN102545762A (en) * | 2011-12-20 | 2012-07-04 | 河海大学 | Method for controlling a direct-drive wave power generation system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107701361A (en) * | 2017-10-23 | 2018-02-16 | 广东工业大学 | A kind of wave-activated power generation method and system |
| CN107701361B (en) * | 2017-10-23 | 2019-08-06 | 广东工业大学 | A kind of wave-activated power generation method and system |
| CN108301963A (en) * | 2018-01-24 | 2018-07-20 | 东南大学 | A kind of ocean wave power generation device control method based on moving average analysis model |
| CN110138286A (en) * | 2019-07-02 | 2019-08-16 | 哈尔滨理工大学 | A kind of permanent-magnetic-switch flux linkage motor and method for controlling torque |
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Application publication date: 20130313 |