CN107104616A - A kind of direct-drive wave power generation system is layered Lu Bang Control Sampled-Data method and device - Google Patents
A kind of direct-drive wave power generation system is layered Lu Bang Control Sampled-Data method and device Download PDFInfo
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- CN107104616A CN107104616A CN201710555953.8A CN201710555953A CN107104616A CN 107104616 A CN107104616 A CN 107104616A CN 201710555953 A CN201710555953 A CN 201710555953A CN 107104616 A CN107104616 A CN 107104616A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
- F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
- F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
- F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/10—Special adaptation of control arrangements for generators for water-driven turbines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient
Abstract
Lu Bang Control Sampled-Data method and device is layered the invention discloses a kind of direct-drive wave power generation system, including wave energy capturing device captures frequency and the displacement of wave in real time；The reference current of Wave energy converter is determined according to wave frequencies, wave displacement and reference current relational expression；Wherein, the acquisition condition of reference current relational expression is that wave frequencies are identical with the frequency of Wave energy converter；The difference of the output current of reference current and Wave energy converter is calculated, sliding formwork control is carried out to Wave energy converter according to difference and displacement, until the output current of Wave energy converter and the difference of reference current are not more than predetermined threshold value.The present invention, to occur covibration, improves the power capture and energy conversion efficiency of wave electric power system by controlling the frequency and wave frequencies of Wave energy converter essentially identical.
Description
Technical field
The present invention relates to wave-activated power generation technical field, more particularly to a kind of direct-drive wave power generation system layering robustness
Control method and device.
Background technology
Along with the fast development of social economy, energy demand sustainable growth, development and utilization wave energy is that solution can not
A deficient effective measures of the renewable sources of energy.
Direct-drive type wave conversion equipment (WEC) mainly includes two large divisions：Wave energy capturing device and Wave energy converter
(PTO).Wave energy capturing device is mainly made up of float, and Wave energy converter is mainly by permanent magnet linear generator (PMLG) and machine
Side converter is constituted.Mover is joined directly together with float, is moved back and forth along with the heave of waves, and mover produces relative fortune with stator
Dynamic, winding cutting magnetic line produces induced-current.
How to improve the power capture and energy conversion efficiency of wave electric power system, be wave-activated power generation technical research weight in
Weight.Due to that when the frequency of Wave energy converter matches with wave frequencies, can occur covibration, wave force is same with speed
Phase, now Wave energy converter peak power can be captured from wave.Therefore to improve the power capture and energy of wave electric power system
Conversion efficiency is measured, it is necessary to which the frequency of Wave energy converter resonates with wave frequencies.
Therefore, how a kind of direct-drive wave power generation system layering Lu Bang Control Sampled-Data side that can realize above-mentioned purpose is provided
Method and device are the problem of those skilled in the art need solution at present.
The content of the invention
Lu Bang Control Sampled-Data method and device is layered it is an object of the invention to provide a kind of direct-drive wave power generation system, is passed through
Control the frequency and wave frequencies of Wave energy converter essentially identical, to occur covibration, improve wave electric power system
Power capture and energy conversion efficiency.
In order to solve the above technical problems, being layered Lu Bang Control Sampled-Data side the invention provides a kind of direct-drive wave power generation system
Method, including：
Wave energy capturing device captures frequency and the displacement of wave in real time；
The reference current of Wave energy converter is determined according to wave frequencies, wave displacement and reference current relational expression；Wherein,
The acquisition condition of the reference current relational expression is that wave frequencies are identical with the frequency of the Wave energy converter；
The difference of the output current of the reference current and the Wave energy converter is calculated, according to the difference and described
Displacement carries out sliding formwork control to the Wave energy converter, until the output current of the Wave energy converter and the reference electricity
The difference of stream is not more than predetermined threshold value.
Preferably, the predetermined threshold value is 0.
Preferably, the reference current relational expression is specially：
Wherein,For q axle reference currents,For d axle reference currents, ψ is PM rotor magnetic linkage, and τ is pole span, ω0For institute
Wave frequencies are stated, M is the quality of moving component in the wave energy capturing device, and A is produced under the effect of wave radiation power
Additional mass, B is the damped coefficient that wave radiation power is produced；K=ρ gs, ρ are the density of water, and g is acceleration of gravity, and s is described
The effective cross section product of floating body in wave energy capturing device；X is wave displacement,For the movement velocity of wave.
Preferably, the difference of the output current for calculating the reference current and the Wave energy converter, according to institute
State difference and the displacement is specially to the process of Wave energy converter progress sliding formwork control：
The output current of generator is subjected to the coordinate transform operation that three phase static rotates to two-phase, q axles is obtained and d axles is defeated
Enter electric current；The Wave energy converter includes the generator and machine-side converter；
Calculate the difference of q axles reference current and the q axles input current and carry out q axle sliding formwork controls, obtain q axle controlled quentity controlled variables
uq；Calculate the difference of d axles reference current and the d axles input current and carry out d axle sliding formwork controls, obtain d axle controlled quentity controlled variables ud；
Wherein,
Wherein, v is the speed of the generator rotor；By q axle controlled quentity controlled variables uqWith d axle controlled quentity controlled variables udConversion is obtained to α and β axles
To uαAnd uβ；
According to the uαAnd uβAdjust electricity of the output current of the generator during space vector pulse width modulation is carried out
Press controlled quentity controlled variable；
Signal after the completion of space vector pulse width modulation after output modulation is to the machine-side converter, by controlling the machine
Side converter controls the output current of the generator, until the output current of the generator and the difference of the reference current
Value is not more than predetermined threshold value.
In order to solve the above technical problems, being layered Lu Bang Control Sampled-Data present invention also offers a kind of direct-drive wave power generation system
Device, including：
Wave energy capturing device, for capturing the frequency of wave in real time and displacement and exporting to high level controller；
The high level controller, for determining wave power conversion according to wave frequencies, wave displacement and reference current relational expression
The reference current of device is simultaneously exported to lower-level controllers；Wherein, the acquisition condition of the reference current relational expression is wave frequencies
It is identical with the frequency of the Wave energy converter；
The lower-level controllers, the difference of the output current for calculating the reference current and the Wave energy converter
Value, carries out sliding formwork control, until the Wave energy converter according to the difference and the displacement to the Wave energy converter
The difference of output current and the reference current be not more than predetermined threshold value.
Preferably, the lower-level controllers are specifically included：
First coordinate transferring, becomes for the output current of generator to be carried out into three phase static to the coordinate that two-phase rotates
Operation is changed, q axles and d axle input currents is obtained；The Wave energy converter includes the generator and machine-side converter；
Sliding formwork control module, for calculating the difference of q axles reference current and the q axles input current and carrying out q axle sliding formworks
Control, obtains q axle controlled quentity controlled variables uq；Calculate the difference of d axles reference current and the d axles input current and carry out d axle sliding formwork controls,
Obtain d axle controlled quentity controlled variables ud；
Wherein,
V is the speed of the generator rotor；
Second coordinate transferring, for by q axle controlled quentity controlled variables uqWith d axle controlled quentity controlled variables udConversion obtains u to α and β axlesαWith
uβ；
Modulation module, for according to the uαAnd uβThe output current for adjusting the generator is carrying out space vector pulse width
Voltage control quantity in modulated process；Signal to the pusher side after the completion of space vector pulse width modulation after output modulation is converted
Device, the output current of the generator is controlled by controlling the machine-side converter, until the output current of the generator
It is not more than predetermined threshold value with the difference of the reference current.
Lu Bang Control Sampled-Data method and device is layered the invention provides a kind of direct-drive wave power generation system, in wave frequencies
Reference current relational expression is built under the same conditions with the frequency of Wave energy converter, is captured afterwards according to the relational expression, in real time
Wave frequencies and displacement, determine the reference current of the frequency of wave frequencies and Wave energy converter under the same conditions, afterwards
By sliding formwork control so that the output current of Wave energy converter is approximately equal to reference current, and then cause wave frequencies and wave energy
The frequency identical condition of conversion equipment is met, enabling occur covibration, improves the power of wave electric power system
Capture and energy conversion efficiency.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to institute in prior art and embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
A kind of flow of the process for direct-drive wave power generation system layering Lu Bang Control Sampled-Data method that Fig. 1 provides for the present invention
Figure；
Fig. 2 is the equivalent circuit diagram of direct-drive wave power generation system；
Fig. 3 is layered the structural representation of Lu Bang Control Sampled-Data device for a kind of direct-drive wave power generation system that the present invention is provided
Figure；
The control structure schematic diagram for the bottom control module that Fig. 4 provides for the present invention.
Embodiment
The core of the present invention is to provide a kind of direct-drive wave power generation system layering Lu Bang Control Sampled-Data method and device, passes through
Control the frequency and wave frequencies of Wave energy converter essentially identical, to occur covibration, improve wave electric power system
Power capture and energy conversion efficiency.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Lu Bang Control Sampled-Data method, shown in Figure 1, Fig. 1 are layered the invention provides a kind of direct-drive wave power generation system
A kind of flow chart of the process of direct-drive wave power generation system layering Lu Bang Control Sampled-Data method provided for the present invention；This method bag
Include：
Step s1：Wave energy capturing device captures frequency and the displacement of wave in real time；
Step s2：The reference electricity of Wave energy converter is determined according to wave frequencies, wave displacement and reference current relational expression
Stream；Wherein, the acquisition condition of reference current relational expression is that wave frequencies are identical with the frequency of Wave energy converter；
Step s3：The difference of the output current of reference current and Wave energy converter is calculated, according to difference and displacement to ripple
Energy conversion equipment carries out sliding formwork control, until the output current of Wave energy converter and the difference of reference current are not more than default threshold
Value.
In a preferred embodiment, predetermined threshold value is 0.
It is understood that because reference current is assuming that wave frequencies and the frequency identical feelings of Wave energy converter
Obtained under condition, therefore theoretically for covibration is realized, then output current should be identical with reference current.So when
Predetermined threshold value is 0.But, actually it is difficult to realize that both is identical by sliding formwork control because error is present, therefore in advance
If threshold value typically could be arranged to be approximately 0 numerical value, certainly, the present invention does not limit the concrete numerical value of predetermined threshold value.
Wherein, reference current relational expression is specially：
Wherein,For q axle reference currents,For d axle reference currents, ψ is PM rotor magnetic linkage, and τ is pole span, ω0For ripple
Unrestrained frequency, M is the quality of moving component (comprising parts such as floats) in wave energy capturing device, and A is in the effect of wave radiation power
The additional mass of lower generation, B is the damped coefficient that wave radiation power is produced；K=ρ gs, ρ are the density of water, and g accelerates for gravity
Degree, s is the effective cross section product of floating body in wave energy capturing device；X is wave displacement,For the movement velocity of wave.
It is understood that above-mentioned reference current relational expression is assuming that wave frequencies and the frequency phase of Wave energy converter
With under conditions of, obtained after the analytical derivation of model, its derivation is as follows：
According to Newton's second law, the motion equation of oscillating movement is represented by：
In formula：For acceleration of motion；FhFor vertical component of the float surface by the power of hydraulic pressure strong production；G catches for wave energy
Obtain the gravity of moving component in device.
Assuming that the amplitude of wave motion and floating motion all very littles, then FhIt can be expressed as：
Fh=Fe+Fr+Fhs
In formula：FeThe power (wave force and diffraction force) acted on for incident wave on floating body；FrFor radiant force；FhsFloated to be quiet
Power.
Assuming that the displacement x of moving component=0 when, Fe=0, then have：
Fhs=-ρ gSx=-Kx
In regular wave ripple, radiant force FrIt is represented by：
The active force of incidence wave depends on the characteristic of ripple and floating body, i.e.,
In formula：xwFor the displacement of heaving of the sea campaign.
Each relational expression can be obtained with reference to more than, and the kinetics equation of wave-activated power generation is：
In kinetics equation, because gravity G is constant term, only can in influence formula x equilbrium position, therefore, it is possible to obtain
The new equilbrium position for considering the kinetics equation after gravity G is x ← x ← Δ x, then kinetics equation can be reduced to：
Assuming that in generator：1. the spatial distribution of air-gap field is in sine wave；2. end effect and core sataration are ignored；③
Disregard mangneto and eddy-current loss.
The positive direction of each physical quantity is provided according to Motor convention, PMLG mathematical modeling can be set up.Generator is determined
Sub- flux linkage equations are：
In formula, ψ is PM rotor magnetic linkage；、ψd、ψqFor d, q axle stator magnetic linkage；id、iqFor d, q axle stator current；Ld、Lq
For d, q axle stator inductance.
The stator voltage equation of generator is：
In formula, R is stator phase resistance.
The anti-electromagnetic force equation of generator is：
In formula, τ pole spans.
From anti-electromagnetic force equation, the anti-electromagnetic force of generator is determined by stator d, q shaft current component.Use for reference in exchange
The rotor flux-orientation vector control commonly used in electric rotating machine, to realize maximal efficiency, loss minimization controller, using id=0
Vector control strategy, stator current is entirely used for producing anti-electromagnetic force, and nothing goes magnetic component.The first anti-electromagnetism that now PMLG is produced
Power relational expression is：
According to linear wave theory, system is after linear, the anti-electromagnetic force F of generator in kinetics equationeIt can represent
For speed and the linear combination of displacement, the second anti-electromagnetic force relational expression is：
In formula, RgTo produce the damped coefficient of active component；KgTo produce the coefficient of elasticity of reactive component.
Now, by controlling 2 frees degree of amplitude and phase of generator electromagnetic force, optimization power is extracted.By above formula band
Enter in kinetics equation, can obtain
Above formula is typical second order linear differential equation, and its form and typical rlc circuit are similar, utilize rlc circuit mould
Intend meeting the dynamical motion equation of direct-drive wave power generation system, shown in Figure 2, Fig. 2 is direct-drive wave power generation system
Equivalent circuit diagram.In figure：FeSimulated with voltage source；Electric current I withEquivalent, the voltage of load impedance is equivalent to electric energy output dress
Put the anti-electromagnetic force K of (generator) generationg。
According to circuit theory, it can be deduced that：When series resonance occurs for equivalent circuit, equivalent circuit needs to be presented resistive,
Now load can extract peak power from circuit, and correspondence generator extracts optimal power from wave.Therefore, optimal work(is realized
Rate transmission condition be：
R=B
In formula, ω is the frequency of equivalent circuit.
And then the coefficient of elasticity obtained in the anti-electromagnetic force of generator generation is：
Kg=ω0 2(M+A)-K
Q axles are can obtain with reference to electricity according to above formula, the condition for realizing optimal power transmission, the anti-electromagnetic force relational expression of both of the aforesaid
StreamFor：
In a preferred embodiment, step s3 process is specially：
The output current of generator is subjected to the coordinate transform operation that three phase static rotates to two-phase, q axles is obtained and d axles is defeated
Enter electric current；Wave energy converter includes generator and machine-side converter；Here generator generally refers to permanent-magnet synchronous generating
Machine.
Calculate the difference of q axles reference current and q axle input currents and carry out q axle sliding formwork controls, obtain q axle controlled quentity controlled variables uq；
Calculate the difference of d axles reference current and d axle input currents and carry out d axle sliding formwork controls, obtain d axle controlled quentity controlled variables ud；
Wherein,
Wherein, v is the speed of the generator rotor, by q axle controlled quentity controlled variables uqWith d axle controlled quentity controlled variables udConversion is obtained to α and β axles
To uαAnd uβ；
According to uαAnd uβThe output current for adjusting generator is carrying out space vector pulse width modulation (SpaceVector Pulse
Width Modulation, SVPWM) during voltage control quantity；
Signal after the completion of space vector pulse width modulation after output modulation is to machine-side converter, by controlling machine-side converter
To control the output current of generator, until the output current of generator and the difference of reference current are not more than predetermined threshold value.
It is understood that sliding formwork control ratio can be by equivalent control ueqWith switching robust control uswConstitute, no not true
In the case of qualitative interference, equivalent control term ueqIt is responsible for the tracking to reference current；When system contains unknown disturbances, switch Shandong
Rod control item uswSystem disturbance can be overcome, system robustness is improved, it is ensured that the operation of system is without departing from sliding-mode surface.
Wherein, d axles controlled quentity controlled variable udThe acquisition process of relational expression is：
Take Ld=Lq=L, is obtained by foregoing generator unit stator voltage is equations turned
Define d shaft currents error e=0-id.Do not consider in the case of deterministic disturbance, switching function is designed as：
S=e
TakeThen
Then equivalent control term is
As system function d containing unknown disturbances (t), to ensure system running state without departing from sliding-mode surface, design switching Shandong
Rod control item is as follows：
usw=ε sgn (s)
Now, the output of d axles sliding mode controller is made up of equivalent control term and switching control, i.e.,
Wherein, ε is strict arithmetic number.
In addition, q axle controlled quentity controlled variables uqThe acquisition process of relational expression is：
Define q shaft current errorsDo not consider in the case of deterministic disturbance, switching function is designed as：
S=e
TakeThen
Then equivalent control term is
As system function d containing unknown disturbances (t), to ensure the running status of system without departing from sliding-mode surface, design switching
Robust control is as follows：
usw=ε sgn (s)
Now, the output of q axles sliding mode controller is made up of equivalent control term and switching control, i.e.,
Wherein, ε is strict arithmetic number.
By experiment, the present invention causes output generator current and reference current identical by sliding formwork control mode
In the case of, enable to wave frequencies identical with the frequency of Wave energy converter, and cause float speed and the same phase of wave force,
And then resonance is realized, capture highest wave energy.
Lu Bang Control Sampled-Data method is layered the invention provides a kind of direct-drive wave power generation system, in wave frequencies and wave energy
The frequency of conversion equipment builds reference current relational expression under the same conditions, afterwards according to the relational expression, the wave captured in real time
Frequency and displacement, determine the reference current of the frequency of wave frequencies and Wave energy converter under the same conditions, pass through cunning afterwards
Mould controls to cause the output current of Wave energy converter to be approximately equal to reference current, and then wave frequencies are filled with wave power conversion
The frequency identical condition put is met, enabling occur covibration, improve wave electric power system power capture and
Energy conversion efficiency.
Lu Bang Control Sampled-Data device is layered present invention also offers a kind of direct-drive wave power generation system, referring to Fig. 3 and Fig. 4 institutes
Show, Fig. 3 is layered the structural representation of Lu Bang Control Sampled-Data device for a kind of direct-drive wave power generation system that the present invention is provided；Fig. 4
The control structure schematic diagram of the bottom control module provided for the present invention.The device includes：
Wave energy capturing device 1, for capturing the frequency of wave in real time and displacement and exporting to high level controller 2；
High level controller 2, for determining Wave energy converter according to wave frequencies, wave displacement and reference current relational expression
4 reference current is simultaneously exported to lower-level controllers 3；Wherein, the acquisition condition of reference current relational expression is wave frequencies and wave energy
The frequency of conversion equipment 4 is identical；
Lower-level controllers 3, the difference of the output current for calculating reference current and Wave energy converter 4, according to difference
Sliding formwork control is carried out to Wave energy converter 4 with displacement, until the output current and the difference of reference current of Wave energy converter 4
No more than predetermined threshold value.
Wherein, lower-level controllers 3 are specifically included：
First coordinate transferring, becomes for the output current of generator to be carried out into three phase static to the coordinate that two-phase rotates
Operation is changed, q axles and d axle input currents is obtained；Wave energy converter 4 includes generator and machine-side converter；
Sliding formwork control module, for calculating the difference of q axles reference current and q axle input currents and carrying out q axle sliding formwork controls,
Obtain q axle controlled quentity controlled variables uq；Calculate the difference of d axles reference current and d axle input currents and carry out d axle sliding formwork controls, obtain d axle controls
Amount u processedd；
Wherein,
V is the speed of the generator rotor；
Second coordinate transferring, for by q axle controlled quentity controlled variables uqWith d axle controlled quentity controlled variables udConversion obtains u to α and β axlesαWith
uβ；
Modulation module, for according to uαAnd uβThe output current for adjusting generator is carrying out space vector pulse width modulation process
In voltage control quantity；Signal after the completion of space vector pulse width modulation after output modulation passes through control machine to machine-side converter
Side converter controls the output current of generator, until the output current of generator and the difference of reference current be not more than it is default
Threshold value.
Lu Bang Control Sampled-Data device is layered the invention provides a kind of direct-drive wave power generation system, in wave frequencies and wave energy
The frequency of conversion equipment builds reference current relational expression under the same conditions, afterwards according to the relational expression, the wave captured in real time
Frequency and displacement, determine the reference current of the frequency of wave frequencies and Wave energy converter under the same conditions, pass through cunning afterwards
Mould controls to cause the output current of Wave energy converter to be approximately equal to reference current, and then wave frequencies are filled with wave power conversion
The frequency identical condition put is met, enabling occur covibration, improve wave electric power system power capture and
Energy conversion efficiency.
Two kinds of embodiments above are only the preferred embodiment of the present invention, it is noted that led for this technology
For the those of ordinary skill in domain, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement
It should be regarded as protection scope of the present invention.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
It should also be noted that, in this manual, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, article or equipment.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (6)
1. a kind of direct-drive wave power generation system is layered Lu Bang Control Sampled-Data method, it is characterised in that including：
Wave energy capturing device captures frequency and the displacement of wave in real time；
The reference current of Wave energy converter is determined according to wave frequencies, wave displacement and reference current relational expression；Wherein, it is described
The acquisition condition of reference current relational expression is that wave frequencies are identical with the frequency of the Wave energy converter；
The difference of the output current of the reference current and the Wave energy converter is calculated, according to the difference and the displacement
Sliding formwork control is carried out to the Wave energy converter, until the output current of the Wave energy converter and the reference current
Difference is not more than predetermined threshold value.
2. according to the method described in claim 1, it is characterised in that the predetermined threshold value is 0.
3. according to the method described in claim 1, it is characterised in that the reference current relational expression is specially：
<mrow>
<msubsup>
<mi>i</mi>
<mi>q</mi>
<mo>*</mo>
</msubsup>
<mo>=</mo>
<mfrac>
<mrow>
<mo>-</mo>
<mn>2</mn>
<mi>&tau;</mi>
</mrow>
<mrow>
<mn>3</mn>
<mi>&pi;</mi>
<mi>&psi;</mi>
</mrow>
</mfrac>
<mo>{</mo>
<mi>B</mi>
<mover>
<mi>x</mi>
<mo>&CenterDot;</mo>
</mover>
<mo>+</mo>
<mo>&lsqb;</mo>
<msup>
<msub>
<mi>&omega;</mi>
<mn>0</mn>
</msub>
<mn>2</mn>
</msup>
<mrow>
<mo>(</mo>
<mi>M</mi>
<mo>+</mo>
<mi>A</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>K</mi>
<mo>&rsqb;</mo>
<mi>x</mi>
<mo>}</mo>
<mo>,</mo>
<msubsup>
<mi>i</mi>
<mi>p</mi>
<mo>*</mo>
</msubsup>
<mo>=</mo>
<mn>0</mn>
<mo>,</mo>
</mrow>
Wherein,For q axle reference currents,For d axle reference currents, ψ is PM rotor magnetic linkage, and τ is pole span, ω0For the ripple
Unrestrained frequency, M is the quality of moving component in the wave energy capturing device, and A is additional for what is produced under the effect of wave radiation power
Quality, B is the damped coefficient that wave radiation power is produced；K=ρ gs, ρ are the density of water, and g is acceleration of gravity, and s is the wave
The effective cross section product of floating body in energy acquisition equipment；X is wave displacement,For the movement velocity of wave.
4. method according to claim 3, it is characterised in that the calculating reference current and wave power conversion dress
The difference for the output current put, the process of sliding formwork control is carried out according to the difference and the displacement to the Wave energy converter
Specially：
The output current of generator is subjected to the coordinate transform operation that three phase static rotates to two-phase, q axles and d axles input electricity is obtained
Stream；The Wave energy converter includes the generator and machine-side converter；
Calculate the difference of q axles reference current and the q axles input current and carry out q axle sliding formwork controls, obtain q axle controlled quentity controlled variables uq；Meter
Calculate the difference of d axles reference current and the d axles input current and carry out d axle sliding formwork controls, obtain d axle controlled quentity controlled variables ud；
Wherein,
<mrow>
<msub>
<mi>u</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>e</mi>
<mi>q</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>w</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>L</mi>
<mi>&pi;</mi>
</mrow>
<mi>&tau;</mi>
</mfrac>
<msub>
<mi>vi</mi>
<mi>q</mi>
</msub>
<mo>+</mo>
<msub>
<mi>Ri</mi>
<mi>d</mi>
</msub>
<mo>+</mo>
<mi>&epsiv;</mi>
<mi>s</mi>
<mi>g</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<mi>s</mi>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, v is the speed of the generator rotor, by q axle controlled quentity controlled variables uqWith d axle controlled quentity controlled variables udConversion obtains u to α and β axlesα
And uβ；
According to the uαAnd uβAdjust voltage control of the output current of the generator during space vector pulse width modulation is carried out
Amount processed；
Signal after the completion of space vector pulse width modulation after output modulation is to the machine-side converter, by controlling the pusher side to become
Parallel operation controls the output current of the generator, until the difference of the output current of the generator and the reference current is not
More than predetermined threshold value.
5. a kind of direct-drive wave power generation system is layered Lu Bang Control Sampled-Data device, it is characterised in that including：
Wave energy capturing device, for capturing the frequency of wave in real time and displacement and exporting to high level controller；
The high level controller, for determining Wave energy converter according to wave frequencies, wave displacement and reference current relational expression
Reference current and export to lower-level controllers；Wherein, the acquisition condition of the reference current relational expression is wave frequencies and institute
The frequency for stating Wave energy converter is identical；
The lower-level controllers, the difference of the output current for calculating the reference current and the Wave energy converter, according to
Sliding formwork control is carried out to the Wave energy converter according to the difference and the displacement, until the output of the Wave energy converter
The difference of electric current and the reference current is not more than predetermined threshold value.
6. device according to claim 5, it is characterised in that the lower-level controllers are specifically included：
First coordinate transferring, is grasped for the output current of generator to be carried out into three phase static to the coordinate transform that two-phase rotates
Make, obtain q axles and d axle input currents；The Wave energy converter includes the generator and machine-side converter；
Sliding formwork control module, for calculating the difference of q axles reference current and the q axles input current and carrying out q axle sliding formwork controls,
Obtain q axle controlled quentity controlled variables uq；Calculate the difference of d axles reference current and the d axles input current and carry out d axle sliding formwork controls, obtain d
Axle controlled quentity controlled variable ud；
Wherein,
V is the speed of the generator rotor；
Second coordinate transferring, for by q axle controlled quentity controlled variables uqWith d axle controlled quentity controlled variables udConversion obtains u to α and β axlesαAnd uβ；
Modulation module, for according to the uαAnd uβThe output current for adjusting the generator is carrying out space vector pulse width modulation
During voltage control quantity；Signal after the completion of space vector pulse width modulation after output modulation leads to the machine-side converter
Cross and control the machine-side converter to control the output current of the generator, until the generator output current with it is described
The difference of reference current is not more than predetermined threshold value.
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