CN108494218B - Bilateral built-in V-shaped permanent magnet linear generator, seabed type wave energy power generation device and control method - Google Patents
Bilateral built-in V-shaped permanent magnet linear generator, seabed type wave energy power generation device and control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/04—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving coil systems and stationary magnets
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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"
- F03B13/18—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" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
- H02P9/26—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices
- H02P9/30—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field using discharge tubes or semiconductor devices using semiconductor devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
- F05B2220/7068—Application in combination with an electrical generator equipped with permanent magnets
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
- F05B2220/707—Application in combination with an electrical generator of the linear type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- 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
The invention discloses a bilateral built-in V-shaped permanent magnet linear generator, a seabed wave energy power generation device based on the linear generator and a control method, and firstly, the bilateral built-in V-shaped permanent magnet linear generator is applied to the seabed wave energy power generation device; secondly, according to the phase relation between the vertical wave force and the running speed of the seabed wave energy power generation device, phase analysis and region division are carried out, and on the basis, a variable damping coefficient method is adopted to adjust the electromagnetic force amplitude of the linear generator in real time, so that the resultant force phase and the running speed phase of the seabed wave energy power generation device are synchronized, and the running efficiency of the seabed wave energy power generation device is maximized; and finally, under the condition of higher ocean wave height, the maximum damping coefficient method is adopted, so that the linear generator outputs the maximum electromagnetic force to prevent the structure of the system device from being damaged, and the safety and stability of the whole system device in the operation process are further improved.
Description
Technical Field
The invention relates to a bilateral built-in V-shaped permanent magnet linear generator, a seabed wave energy power generation device based on the linear generator and a control method, and belongs to the new energy power generation technology.
Background
In recent two years, with the gradual increase of environmental pollution treatment strength of China, clean renewable energy is converted into electric energy, and the method becomes a main way for improving the environmental quality of China and meeting the electric energy requirements of national production and life. The seabed wave energy power generation technology is one of the modes of converting clean renewable energy into electric energy, provides electric energy for remote islands, offshore platforms and coastal areas, and provides power support for the development of marine economy in China.
However, with the deep research of the submarine wave power generation technology and the subsequent construction of experimental test projects, two problems are gradually found: firstly, due to the special existing form of wave energy, the efficiency of the seabed wave energy power generation device in a natural operation state is difficult to improve; and secondly, due to extreme marine environments (hurricanes, typhoons and the like), the safety and stability of the seabed wave power generation device in ocean waves cannot be guaranteed. Therefore, research on an optimized control technology of the seabed wave energy power generation device improves the operating efficiency and the safety and stability of the seabed wave energy power generation device in ocean waves, and becomes a difficult problem to be solved urgently in the development process of the wave energy power generation technology.
In order to solve the problem, the chinese patent application CN201710449351.4 discloses a method for controlling a buoy to track the sea level, which aims to improve the utilization rate of wave energy by a wave energy power generation device and ensure the stability of a system device. However, since the wave period and amplitude in the sea are constantly changing and the moving speed of the wave is nonlinear, the method for the buoy to track the sea level not only increases the complexity of the system structure, but also requires a large-capacity power supply device and a high-power electronic device (the larger the horizontal area of the wave energy power generation device is, the larger the wave force is, and the larger the force is output by the control system, so that the optimal control of the wave energy power generation device in the moving process is realized).
Furthermore, chinese patent application CN201710555935.8 discloses a direct drive wave power generation system based on hierarchical robustness control. The invention controls the frequency of the direct drive type wave power generation system based on the relation among the wave frequency, the wave displacement and the reference current, so that the frequency is consistent with the wave frequency, and the high-efficiency operation of the system device is realized. However, in the waves in the actual motion process, the wave height is nonlinear, and the period is not constant. Therefore, in addition to the consideration of improving the operation efficiency of the system device, the safety stability of the system device in the ocean waves is also considered.
Generally, the existing wave energy power generation device mainly has the following disadvantages: the practicability is poor, and the operating efficiency and the safety and stability of the system device are not considered at the same time; the wave energy power generation device needs to be additionally provided with control system equipment, so that the system structure of the wave energy power generation device becomes complex, and the installation and later operation maintenance of the system device are not facilitated; the running process of the wave energy power generation device is not refined and analyzed, and a larger improvement space is provided for the maximization of the running efficiency.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the bilateral built-in V-shaped permanent magnet linear generator, the seabed wave energy power generation device based on the linear generator and the control method, so that the operation efficiency of the seabed wave energy power generation device can be improved, the safety and the stability of the power generation device in the operation process can be ensured, and the large-scale and commercial development of the wave energy power generation technology is facilitated.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a bilateral built-in V-shaped permanent magnet linear generator comprises a bilateral stator and a rotor, wherein the bilateral stator comprises two stator cores which are opposite at intervals, and the rotor reciprocates in the interval between the two stator cores; a group of paired permanent magnets are arranged in the stator iron core along the moving direction of the rotor, the paired permanent magnets are symmetrically arranged into a V shape, the opening faces the rotor, and the symmetric axes of the paired permanent magnets are vertical to the moving direction of the rotor; a rotor iron core is arranged in the rotor, teeth of the rotor iron core are opposite to the stator iron core, and double-layer windings are wound in a slot of the rotor iron core.
Preferably, a reinforcing rib and a magnetic bridge are arranged between the permanent magnets.
Preferably, the two ends of the rotor core are designed to be arc-shaped edge end tooth structures, and the design that the width of the edge end groove is reduced is adopted.
Preferably, the bilateral stator is of a U-shaped groove structure, and the two stator cores are respectively designed on the basis of two opposite surfaces of the U-shaped groove; the rotor is of a rectangular cylinder structure.
A seabed type wave energy power generation device comprises a foundation column, a bilateral built-in V-shaped permanent magnet linear generator and an outer buoy, wherein the foundation column is fixed at a specific position on the seabed through a pile; the bilateral built-in V-shaped permanent magnet linear generator comprises a bilateral stator and a rotor, wherein the rotor is connected with an outer buoy through a connecting frame, the bilateral stator is fixedly connected with a foundation column, the outer buoy is sleeved on the foundation column, and the outer buoy reciprocates relative to the foundation column to drive the rotor to reciprocate relative to the bilateral stator.
The bilateral built-in V-shaped permanent magnet linear generator is a linear generator with a novel structure, permanent magnets of the linear generator are distributed in a V shape, and the angle of the V-shaped distribution of the permanent magnets can be optimized, so that the distribution and the optimized control of a generator magnetic field are facilitated; reinforcing ribs and magnetic bridges with proper size and width are arranged between the permanent magnets distributed in a V shape, so that the tooth space force amplitude of the generator and the induced electromotive force harmonic component of the winding are reduced, and the stability of the linear generator in the operation process is guaranteed; the rotor core and the stator core of the linear generator can adopt a laminated structure, so that the iron loss of the generator is reduced; the arc-shaped edge end teeth and the proper edge end groove width can further reduce the tooth space force amplitude of the generator, so that the voltage output by the linear generator is more approximate to sine.
An operation control method of a seabed type wave energy power generation device comprises the following steps:
(1) acquiring the exciting force, displacement and speed of the outer buoy: if the movement stroke of the outer buoy reaches the maximum movement stroke set value, the maximum damping coefficient is adopted for control; otherwise, judging the phase difference between the exciting force and the speed, and entering the step (2);
(2) if the phase difference between the exciting force and the speed is zero, adopting zero damping coefficient control; if the exciting force and the speed phase difference are in a low threshold range, constant damping coefficient control is adopted; if the exciting force and the speed phase difference are in a high threshold value range, the optimized damping coefficient is adopted for control;
(3) and (3) controlling the q-axis control current of the bilateral built-in V-shaped permanent magnet linear generator by adopting a two-degree-of-freedom internal model PID control algorithm in a second-order pure hysteresis process and through the damping coefficient selected in the step (2), so that the output amplitude of the electromagnetic force of the bilateral built-in V-shaped permanent magnet linear generator is adjusted, the phase difference between the resultant force in the vertical direction (the resultant force of the exciting force and the electromagnetic force) borne by the seabed wave energy power generation device and the operation speed of the seabed wave energy power generation device is zero, and the operation efficiency of the seabed wave energy power generation.
The motion speed of the seabed wave power generation device is generated by driving of an exciting force in the vertical direction. Since the wave height and the period of the ocean waves are changed constantly, a phase difference necessarily exists between the excitation force phase and the running speed phase of the seabed wave energy power generation device, and therefore the running efficiency of the power generation device is reduced. Therefore, it is necessary to analyze the phase relationship between the two and perform detailed region division.
Different damping coefficients (constant damping coefficient, optimized damping coefficient and zero damping coefficient) are obtained by analyzing the relationship between the vertical direction exciting force phase and the running speed phase received by the seabed wave energy power generation device.
The two-degree-of-freedom internal model PID control algorithm of the second-order pure hysteresis process is established on the basis of speed feedback, displacement feedback and current feedback of a double-side built-in V-shaped permanent magnet linear generator; and the control process of the control algorithm is realized based on phase analysis and region division of the seabed wave energy power generation device.
Preferably, the q-axis reference current of the bilateral built-in V-shaped permanent magnet linear generatorAnd damping coefficient BptoThe mathematical relationship between the two is
Wherein v istFor the running speed of the buoy, τpIs the axial length, psi, of the permanent magnets in the stator corepmIs a magnetic flux.
Preferably, the acting force of the bilateral built-in V-shaped permanent magnet linear generator on the outer buoy is the electromagnetic force of the bilateral built-in V-shaped permanent magnet linear generator
And q-axis reference current
The mathematical relationship between the two is
Wherein tau is the polar distance of the permanent magnet in the stator core, psipmIs a magnetic flux.
In the invention, the following key points are designed:
1. the double-side built-in V-shaped permanent magnet linear generator is provided with reinforcing ribs, a magnetic bridge, arc-shaped side end teeth and proper side end groove width.
2. And performing phase analysis and region division according to the phase relation between the vertical direction exciting force applied to the seabed wave energy power generation device and the running speed of the seabed wave energy power generation device.
3. According to phase analysis and region division, different damping coefficient control methods are provided, and the method mainly comprises constant damping coefficients, optimized damping coefficients and zero damping coefficients.
4. And deducing a mathematical relation between the q-axis control current and the damping coefficient of the bilateral built-in V-shaped permanent magnet linear generator.
5. A two-degree-of-freedom internal model PID control algorithm of a second-order pure hysteresis process is provided, and q-axis control current of the bilateral built-in V-shaped permanent magnet linear generator is controlled through different damping coefficients, so that the electromagnetic force output amplitude of the bilateral built-in V-shaped permanent magnet linear generator is adjusted, the phase difference between the resultant force (the resultant force of the exciting force and the electromagnetic force) in the vertical direction and the running speed of the seabed type wave energy power generation device is zero, and the running efficiency of the seabed type wave energy power generation device is finally improved.
6. Under the condition that the height of ocean wave energy is large, the motion stroke of the seabed wave energy power generation device exceeds the maximum safety value. At the moment, in order to avoid the seabed wave energy power generation device from being damaged, the output amplitude of the electromagnetic force of the double-side built-in V-shaped permanent magnet linear generator is maximized through a two-degree-of-freedom internal model PID control method and the maximum damping coefficient in the second-order pure hysteresis process, so that the running speed of the seabed wave energy power generation device is slowed down or locked, and the safety and stability of the seabed wave energy power generation device in a severe marine environment are finally realized.
Has the advantages that: compared with the prior art, the bilateral built-in V-shaped permanent magnet linear generator, the seabed wave energy power generation device based on the linear generator and the control method provided by the invention have the following advantages: the bilateral built-in V-shaped permanent magnet linear generator has the good characteristics of high operation efficiency and easy control; the two-degree-of-freedom internal model PID control algorithm of the second-order pure lag process is an optimized control algorithm which accords with the motion characteristics of the seabed wave energy power generation device; the wave stress phase and the running speed phase of the seabed wave power generation device are divided into sections in detail, and a foundation is laid for the optimal control of a system; the optimized control of the seabed wave energy power generation device is realized by adjusting the electromagnetic force amplitude output by the bilateral built-in V-shaped permanent magnet linear generator without adding extra control system execution equipment. The technical scheme adopted by the invention simplifies the structural composition of the system device on one hand and improves the operation efficiency and the safety and stability of the system device on the other hand.
Drawings
Fig. 1 is a schematic sectional structure diagram of a seabed type wave power generation device;
FIG. 2 is a schematic cross-sectional structure diagram of a bilateral built-in V-shaped permanent magnet linear generator;
FIG. 3 is a schematic perspective view of a bilateral built-in V-shaped permanent magnet linear generator;
FIG. 4 is a phase analysis of excitation force and operation speed in the vertical direction of the seabed wave power generation device (outer buoy) and the regional division thereof;
FIG. 5 is a dynamic optimization control technical route of the seabed wave energy power generation device;
fig. 6 is a controller system for a subsea wave energy power plant;
fig. 7 shows the implementation process of the submarine wave power generation device in high efficiency and safe and stable operation.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Fig. 1 shows a schematic cross-sectional structure of a seabed wave power generation device, which comprises a foundation column 3, a bilateral built-in V-shaped permanent magnet linear generator and an outer buoy 2, wherein the foundation column 3 is fixed at a specific seabed position 8 through a pile 9; the bilateral built-in V-shaped permanent magnet linear generator comprises a bilateral stator 5 and a rotor 4, wherein the rotor 4 is connected with an outer buoy 2 through a connecting frame 6, the bilateral stator 5 is fixedly connected with a foundation column 3, the outer buoy 2 is sleeved on the foundation column 3, and the outer buoy 2 reciprocates relative to the foundation column 3 to drive the rotor 4 to reciprocate relative to the bilateral stator 5.
Under the heave motion of the sea waves 1 the outer buoy 2 will be subjected to the action of the vertically directed wave forces, resulting in a displacement (velocity) in the vertical direction. The relative displacement (speed) between the outer buoy 2 and the foundation column 3 can drive the rotor 4 of the bilateral built-in V-shaped permanent magnet linear generator and the bilateral stator 5 to generate relative displacement (speed), so that the wave energy is converted into electric energy. In addition, the pile 9 is adopted, so that the firmness of the seabed wave energy power generation device can be enhanced, and the seabed wave energy power generation device is fixed at a specific position 8 on the seabed; the maximum relative movement stroke 7 between the outer buoy 2 and the foundation column 3 is determined by the mechanical structure of both.
As shown in fig. 2, the bilateral built-in V-shaped permanent magnet linear generator includes a bilateral stator 5 and a mover 4, the bilateral stator 5 includes two stator cores 11 facing each other at an interval, and the mover 4 reciprocates in the interval between the two stator cores 11; a group of paired permanent magnets 12 are arranged in the stator core 11 along the moving direction of the mover 4, the two paired permanent magnets 12 are symmetrically arranged in a V shape, the opening faces the mover 4, and the symmetry axes of the two paired permanent magnets 12 are perpendicular to the moving direction of the mover 4; reinforcing ribs 15 and magnetic bridges 16 are arranged between the permanent magnets 12; a rotor core 10 is arranged in the rotor 4, teeth of the rotor core 10 are opposite to the stator core 11, and a double-layer winding 13 is wound in a slot of the rotor core 10; the two ends of the rotor core 10 are designed into arc-shaped edge teeth 14, and the design that the width 17 of the edge groove is reduced is adopted.
As shown in fig. 3, the double-sided stator 5 has a U-shaped groove structure, and the two stator cores 11 are respectively designed based on two opposite surfaces of the U-shaped groove; the rotor 4 is in a rectangular cylinder structure.
Based on fig. 1, under the relative motion of the outer buoy 2 and the base column 3, the stator core 11 and the mover core 10 will be driven to generate relative motion, so that the winding 13 of the mover core 10 cuts the magnetic field lines (generated by the permanent magnet 12) of the stator core 11, thereby causing the coil 13 to generate electric energy (according to faraday's law). Particularly, the arc-shaped edge end teeth 14 and the proper edge end groove width 17 are beneficial to reducing the tooth space force of the bilateral built-in V-shaped permanent magnet linear generator, so that the voltage output by the linear generator is closer to sine, and a good hardware foundation is laid for the optimal control of the linear generator.
Fig. 4 shows the phase analysis of the force and the running speed of the outer buoy 2 in the vertical direction and the division of the area. As shown in fig. 4, the following three phase relationships exist between the vertical exciting force 18 received by the outer buoy 2 and the operating speed 19 thereof: lag in fig. 4(a), synchronization in fig. 4(b), and lead in fig. 4 (c). In order to improve the operating efficiency of the subsea wave power plant, the vertical excitation force 18 and the operating speed 19 of the outer buoy 2 are phase-divided into zones. As shown in fig. 4(a) and 4(C), the region a and the region C are lower phase regions, and the region B and the region D are higher phase regions; the region E in fig. 4(b) is the synchronization phase (phase difference is zero).
Fig. 5 shows a dynamic optimization control technical route of the seabed wave energy power generation device. As shown in fig. 5, the control system is mainly divided into a high-efficiency operation control part and a safety and stability control part.
Firstly, the outer buoy of the seabed type wave power generation device is subjected to a resultant force F in the vertical directiontotalIs excited by a vertical exciting force FexcElectromagnetic force of V-shaped permanent magnet linear generator with built-in bilateral sides
And (4) forming.
Secondly, in order to improve the operating efficiency of the seabed wave power generation device, according to the phase analysis and the region division shown in fig. 4, when the outer buoy is subjected to the vertical direction exciting force FexcWhen the phase difference with the speed is zero (fig. 4(b)), the generator is controlled by adopting a zero damping coefficient
When the outer buoy is subjected to vertical direction exciting force FexcWhen the phase difference from the velocity is not zero (FIG. 4(a) and FIG. 4(c)), the constant damping coefficient control or the optimized damping coefficient control is adopted
Wherein the constant damping coefficient control is for lower phase regions (region a and region C) and the optimized damping coefficient control is for higher phase regions (region B and region D).
Finally, in order to guarantee the safety and stability of the seabed wave energy power generation device in a high ocean wave environment, when the high ocean waves cause the system device to reach the maximum relative motion stroke 7 (shown in figure 1), the maximum damping coefficient is adopted for controlling to stop the power generation device (locking), so that the power generation device is guaranteed not to be damaged.
Fig. 6 is a controller system of the subsea wave power generation device, and the specific control process is as follows:
(1) the displacement y and the speed V of a bilateral built-in V-shaped permanent magnet linear generator (outer buoy) are obtained by utilizing a displacement sensor, a speed sensor and a current transformer CTtAnd phase current value i of the generatorA、iB、iC；
(2) The phase current value i is transformed by park-Clark transformation (abc/dq)A、iB、iCConversion into d-axis current idAnd q-axis current iq(ii) a By the operating speed v of the generatortOptimized damping coefficient B required by seabed type wave power generation deviceptoAnd calculating to obtain q-axis reference current
(setting d-axis reference Current
)；
(3) Difference of d-axis current
And difference of q-axis currentSending to a two-degree-of-freedom internal model PID controller in a second-order pure hysteresis process, converting two rotation coordinates into two static coordinate converters (2s/2r) through algorithm processing, and inputting a voltage V under a two-phase static coordinate system to a Space Vector Pulse Width Modulator (SVPWM)αAnd Vβ；
(4) The electromagnetic force amplitude output by the bilateral built-in V-shaped permanent magnet linear generator is increased through the SVPWM and the voltage source inverter, and the increased amplitude is
The two-degree-of-freedom internal model PID control algorithm of the second-order pure hysteresis process specifically comprises the following steps:
① use a second order nonlinear equation and adjacent history data (difference i of d-axis current)dcAnd the difference i of the q currentsqc) Establishing a second-order pure hysteresis process model of control current of the bilateral built-in V-shaped permanent magnet linear generator;
② establishing two degrees of freedom (controller and filter) of an internal model PID control algorithm;
③, determining the value of the adjustable parameter of the controller according to the interference suppression characteristic and robustness requirement of the bilateral built-in V-shaped permanent magnet linear generator;
④ determining the adjustable parameter value of the filter according to the requirement of target value (running speed) tracking characteristic;
⑤ output d-axis voltage V of bilateral built-in V-shaped permanent magnet linear generatordAnd q-axis voltage Vq。
Fig. 7 shows, from a practical point of view, an implementation of the efficient and safe stable operation of a subsea wave energy power plant.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A method for controlling the operation of a seabed wave energy power generation device comprises a foundation column (3), a bilateral built-in V-shaped permanent magnet linear generator and an outer buoy (2); the bilateral built-in V-shaped permanent magnet linear generator comprises bilateral stators (5) and an active cell (4), wherein the active cell (4) is connected with an outer buoy (2) through a connecting frame (6), the bilateral stators (5) are fixedly connected with a foundation column (3), the outer buoy (2) is sleeved on the foundation column (3), and the outer buoy (2) reciprocates relative to the foundation column (3) to drive the active cell (4) to reciprocate relative to the bilateral stators (5);
the bilateral built-in V-shaped permanent magnet linear generator comprises a bilateral stator (5) and a rotor (4), wherein the bilateral stator (5) comprises two stator cores (11) which are opposite at intervals, and the rotor (4) reciprocates in the interval between the two stator cores (11); a group of paired permanent magnets (12) are arranged in the stator core (11) along the moving direction of the rotor (4), the two paired permanent magnets (12) are symmetrically arranged into a V shape, the opening faces the rotor (4), and the symmetric axis of the two paired permanent magnets (12) is vertical to the moving direction of the rotor (4); a rotor iron core (10) is arranged in the rotor (4), teeth of the rotor iron core (10) are opposite to the stator iron core (11), and a double-layer winding (13) is wound in a groove of the rotor iron core (10);
the method is characterized in that: the method comprises the following steps:
(1) acquiring the exciting force, displacement and speed of the outer buoy: if the movement stroke of the outer buoy reaches the maximum movement stroke set value, the maximum damping coefficient is adopted for control; otherwise, judging the phase difference between the exciting force and the speed, and entering the step (2);
(2) if the phase difference between the exciting force and the speed is zero, adopting zero damping coefficient control; if the exciting force and the speed phase difference are in a low threshold range, constant damping coefficient control is adopted; if the exciting force and the speed phase difference are in a high threshold value range, the optimized damping coefficient is adopted for control;
(3) and (3) controlling the q-axis control current of the bilateral built-in V-shaped permanent magnet linear generator by adopting a two-degree-of-freedom internal model PID control algorithm in a second-order pure hysteresis process and the damping coefficient selected in the step (2), so that the output amplitude of the electromagnetic force of the bilateral built-in V-shaped permanent magnet linear generator is adjusted, and the zero phase difference between the resultant force in the vertical direction and the running speed of the seabed wave energy power generation device is realized.
2. The operation control method of a subsea wave energy power plant according to claim 1, characterized in that: q-axis reference current of bilateral built-in V-shaped permanent magnet linear generator
And damping coefficient BptoThe mathematical relationship between the two is
Wherein v istFor the running speed of the buoy, τpIs the axial length, psi, of the permanent magnets in the stator corepmIs a magnetic flux.
3. The operation control method of a subsea wave energy power plant according to claim 1, characterized in that: the acting force of the bilateral built-in V-shaped permanent magnet linear generator on the outer buoy is the electromagnetic force of the bilateral built-in V-shaped permanent magnet linear generator
And q-axis reference currentThe mathematical relationship between the two is
Wherein tau is the polar distance of the permanent magnet in the stator core, psipmIs a magnetic flux.
4. The operation control method of a subsea wave energy power generation device according to claim 2 or 3, characterized in that: damping coefficient B of power generation device by submarine wave energyptoAdjusting the q-axis reference current of the bilateral built-in V-shaped permanent magnet linear generator
By q-axis reference current
Electromagnetic force for adjusting double-side built-in V-shaped permanent magnet linear generator
And finally, the optimal control of the seabed wave power generation device in the operation process is realized.
5. The operation control method of a subsea wave energy power plant according to claim 1, characterized in that: and reinforcing ribs (15) and magnetic bridges (16) are arranged between the permanent magnets (12).
6. The operation control method of a subsea wave energy power plant according to claim 1, characterized in that: the two ends of the rotor core (10) are designed into arc-shaped edge end teeth (14) structures, and the design that the width (17) of an edge end groove is reduced is adopted.
7. The operation control method of a subsea wave energy power plant according to claim 1, characterized in that: the bilateral stator (5) is of a U-shaped groove structure, and the two stator cores (11) are respectively designed on the basis of two opposite surfaces of the U-shaped groove; the rotor (4) is of a rectangular cylinder structure.
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| CN101741214B (en) * | 2010-03-10 | 2012-06-27 | 哈尔滨工业大学 | Built-in permanent magnet dual-side flat plate type linear motor |
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