CN108806429B - Full-electric wave energy power generation experimental system - Google Patents
Full-electric wave energy power generation experimental system Download PDFInfo
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Abstract
The invention relates to a full-electric wave energy power generation experimental system which comprises an analog circuit, an asynchronous motor, a permanent magnet synchronous generator and a controller, wherein the analog circuit is used for simulating a point absorption type single-degree-of-freedom wave power generation device. Analog circuit comprising a unit of physical parameters of the float, a unit of interaction of the float with incident waves, a power take-off unit PTO anda connecting wire portion; the physical parameter unit of the floater comprises: first inductance (L)1) A first capacitor (C)1) And a first DC power supply (U)S1) (ii) a The first inductor (L)1) By mass M of the floatbEquivalent, first capacitance (C)1) The variable part of the hydrostatic force, pgS equivalent, caused by the displacement of the float from the equilibrium position, is a first direct current source (U)S1) Spring pretightening force rho gV borne by the float endproloadAnd (4) equivalence.
Description
Technical Field
The invention belongs to the field of wave power generation, and particularly relates to a full-electric wave energy power generation experimental system.
Background
Along with the development of science and technology and the improvement of modernization level, the consumption of primary energy by human beings is increased day by day. Traditional energy sources such as coal, petroleum, natural gas and the like are facing exhaustion, and global energy crisis promotes countries in the world to increase research strength on renewable energy sources such as wave energy, wind energy and the like. The ocean is considered the last treasury of resources on earth. The water layer on the surface of the ocean contains huge energy, and can be continuously supplemented, and is inexhaustible, thus becoming a new research hotspot. The ocean resource reserves in China are extremely rich, and the development and utilization values are very high. The research on wave energy power generation has important practical significance for solving the situation of power shortage in coastal areas, building and protecting Chinese islands and realizing dream of strong countries on the sea.
The wave energy power generation technology is to convert wave energy into mechanical energy and then into electric energy through a wave energy absorption device. The field research experiment of the wave-activated generator set has many defects and inconvenience, large equipment and huge construction and maintenance cost, so the research experiment in a laboratory is particularly important. Laboratory research can be fast and effectively carried out tests, tests and verifications on new technologies, new designs and new products, and design problems and potential safety hazards can be found as soon as possible, so that the aims of reducing technical risks, reducing product development cost, shortening research period and the like are fulfilled. However, most of the existing experimental devices reduce the composition ratio of the wave power generator to the experimental level for simulation, and generally include a wave-generating water tank, a designed and manufactured wave energy conversion device, a data acquisition system, and the like. The experimental devices occupy a large amount of space, are complex in construction and complex in calculation, each wave energy conversion device needs to be manufactured again, the labor cost, the time cost and the economic cost are high, the risk of experimental failure is higher, and the universal applicability is not realized.
Disclosure of Invention
Aiming at the problems, the invention provides an all-electric wave energy power generation experimental system, which adopts a relatively simple method, namely an all-electric gasification equivalent circuit model, to replace complicated experimental devices and equipment, and accurately realize the experimental simulation of the wave energy power generation device. The technical scheme is as follows:
an all-electric wave energy power generation experimental system comprises an analog circuit for simulating a point absorption type single-degree-of-freedom wave power generation device, an asynchronous motor, a permanent magnet synchronous generator and a controller, and is characterized in that,
the analog circuit comprises a physical parameter unit of the floater, a unit of interaction of the floater and incident waves, a power take-off unit PTO and a connecting line part;
the physical parameter unit of the floater comprises: first inductance (L)1) A first capacitor (C)1) And a first DC power supply (U)S1) (ii) a The first inductor (L)1) By mass M of the floatbEquivalent, first capacitance (C)1) The variable part of the hydrostatic force, pgS equivalent, caused by the displacement of the float from the equilibrium position, is a first direct current source (U)S1) Spring pretightening force rho gV borne by the float endproloadEquivalence is carried out;
wherein the first DC power supply (U)S1) Positive polarity terminal and first capacitor (C)1) Is connected with the first end of the first connecting pipe; the first capacitor (C)1) A second terminal and a first inductor (L)1) Is connected to the first end of the first housing.
The float and incident wave interaction unit comprises: first AC power supply (u)s1) A second AC power supply (u)s1'), a second inductor (L)2) A third inductor (L)2'), a first resistor (R)1) A second resistor (R)1') to a host; the first AC power supply (u)s1) The force F of the incoming wave on the float under the tension of the cableeAs driving force equivalent, a second alternating current power supply (u)s1') force F of the incoming wave on the float from the slack condition of the cableeAs driving force equivalent, second inductance (L)2) Additional mass m under tension by the cableaEquivalent, third inductance (L)2') additional mass m in the relaxed state of the cablea' equivalent, first resistance (R)1) Equivalent by the radiation damping coefficient B in the tensioned state of the cable, a second resistance (R)1') is equivalent by the radiation damping coefficient B' in the cable slack state;
wherein the first AC power source (u)s1) Are respectively connected with a first inductor (L)1) And a second terminal of (L) and a second inductance (L)2) A first end of (a); the second inductance (L)2) Is connected to a first resistor (R)1) A first end of (a); the first resistor (R)1) Is connected to the first switch (S)1) (ii) a The second AC power supply (u)s1') are respectively connected with the first inductor (L)1) And a third inductance (L)2') a first end; the third inductance (L)2') is connected at a second end thereof to a second resistor (R)1') a first end; the second resistor (R)1') is connected at a second end to a second switch (S)1') to a host; leading out a port I from a positive polarity end of the first direct current power supply;
the power take-off unit (PTO) of the float comprises: a first variable resistor (R)2) A second capacitor (C)2) A third capacitor (C)3) A fourth inductor (L)3) A second DC power supply (U)S2) A third DC power supply (U)S3) And a fourth DC power supply (U)S4) (ii) a The first variable resistor (R)2) The area of overlap of the rotor and stator parts (also called effective area ratio A)act) Equivalent, second capacitance (C)2) By the spring constant k of the retraction springsEquivalent, third capacitance (C)3) By the spring constant k of the retaining springend-stopEquivalent, fourth inductance (L)3) By rotor mass MtEquivalent, second direct current power supply (U)S2) Spring preload F applied by the rotor endpreloadEquivalent, third DC power supply (U)S3) By gravity M of the rotortg equivalent, fourth DC power supply (U)S4) Compression force k generated by retaining springend-stopuesAnd (4) equivalence.
Wherein the second DC power supply (U)S2) Is connected with a first direct current power supply (U)S1) The positive polarity terminal of (1); the third DC power supply (U)S3) And a first variable resistor (R)2) Is connected with a second direct current power supply (U)S2) The positive polarity terminal of (1); the fourth DC power supply (U)S4) Is connected to a first variable resistor (R)2) A second end of (a); the third capacitance (C)3) Is connected with a fourth direct current power supply (U)S4) A negative polarity terminal of; the second capacitance (C)2) Are respectively connected with a third switch (S)2) And a fourth inductance (L)3) A first end of (a); the fourth inductance (L)3) Is connected to the fourth switch (S)3) (ii) a From the third direct current source (U)S3) The negative polarity terminal of (3) is led out of a port III; from the third capacitance (C)3) The second end of the first terminal is led out of a port IV; from the first variable resistance (R)2) Out of port v.
The connecting line part is used as a bridge to connect the three main parts and mainly comprises a fourth capacitor (C)4) (ii) a The fourth capacitor (C)4) Spring constant k modeled as a spring when tensioned by a cablelineAnd (4) equivalence.
Wherein the negative terminal of the first DC power supply is connected with a fourth capacitor (C)4) A first end of (a); from the fourth capacitance (C)4) And the second end of (a) leads out of port II.
The first switch (S)1) The device can be arranged at the port II to show the interaction condition of the floater and waves in the tensioning state of the connecting line; the second switch (S)1') can be placed at port I to indicate the condition of the float in the slack condition of the connecting line interacting with the waves; the third switch (S)2) The device can be arranged at the port II or the port III and respectively corresponds to the conditions that the rotor of the linear generator is lifted under the action of the connecting wire and falls under the action of the gravity of the rotor; the fourth switch (S)3) It can be placed in port iv or port v, corresponding to the case where the rotor compresses the retaining spring and does not hit the retaining spring, respectively. Switch S1、S2、S3Different working states of the device are obtained by connecting different circuits.
Preferably, the controller adopts an asynchronous motor vector control algorithm based on active disturbance rejection control, a division link is added, output rotating speed control is realized through the rotating speed, the flux linkage and the current closed loop of the asynchronous motor, and in the current closed loop, static 3/2 transformation and rotation transformation are carried out on the detected three-phase current to obtain the stator current i under the dq coordinate systemsdAnd isqWith reference currents i in dq coordinate system output by the speed regulator and flux regulator, respectivelysdA and isqComparing, forming current closed loop control by the stator current excitation component regulator and the stator current torque component regulator, wherein the four regulators adopt active disturbance rejection controllers except the flux linkage regulator which uses PI regulation.
The wave energy power generation experimental device is simplified by a simple full-electric simulation method, the full-electric simulation module enables a wave energy conversion device to be equivalent to a corresponding circuit model, wave information is equivalent to a power supply, and a corresponding electric signal is output to be used as given input of an asynchronous motor; the DSP controller controls the output torque of the asynchronous motor to be converted along with given input, and mechanical energy output by the wave energy conversion device is simulated to drive the permanent magnet synchronous generator to generate electricity; the output electric energy is controlled by the DSP and is supplied to a load through a corresponding rectification and inversion process, so that the whole wave energy power generation process is simulated. The experimental system simplifies complicated experimental devices, has simple structure, easy realization, convenient installation and maintenance and economic cost, and provides convenience for laboratory research and teaching; the asynchronous motor adopts a vector control system with a division link, so that the speed regulation range is wide. Through this link, istIncreasing, ensuring the electromagnetic torque to be unchanged as much as possible, eliminating the inherent multiplication link in the object, realizing the dynamic decoupling of the torque and the flux linkage, and reducing the influence on the electromagnetic torque when the rotor flux linkage fluctuates. The vector control system adopts an auto-disturbance rejection controller, abandons the traditional speed sensor, eliminates the influence of rotor resistance and other uncertain disturbance on the system stability, and has certain influence on noiseThe interference rejection capability and the robustness of the system are improved.
Drawings
Fig. 1 is a schematic diagram of an all-electric wave energy power generation experimental system.
In the figure: 1 is an asynchronous motor which converts an electric signal into a mechanical signal; 2, a speed change gear box which changes the mechanical torque output by the asynchronous motor proportionally so as to meet the input requirement of the permanent magnet synchronous generator; 3 is a core part of the energy conversion of the permanent magnet synchronous generator; and 4, a Digital Signal Processing (DSP) controller for controlling the mechanical output of the motor and the electrical output of the generator.
Fig. 2 is a block diagram of a vector control system for an asynchronous motor with a division link.
In the figure: 5 is a rotating speed regulator, and an Active Disturbance Rejection Controller (ADRC) is adopted; 6, a rotor flux linkage regulator adopts a PI controller; 7, a stator current excitation component regulator adopts an Active Disturbance Rejection Controller (ADRC); 8, a stator current torque component regulator adopts an Active Disturbance Rejection Controller (ADRC); and 9, a division link is used for eliminating a multiplication link in the object and realizing dynamic decoupling of the torque and the rotor flux linkage.
Fig. 3 is an equivalent circuit diagram of the point absorption type single degree of freedom wave power generation device.
Detailed Description
With reference to fig. 1 and 2, according to a corresponding equivalent method, a complex mechanical structure is simplified and treated as much as possible on the basis of not changing the nature of the structure, and a reference system, an excitation source, inertia, elasticity and damping performance of the system are described by basic electrical elements with lumped parameters. And then converting wave energy conversion devices of different types and degrees of freedom into corresponding full-electric equivalent circuit models.
In the equivalent circuit model, the "ground" is one and only one in the system, which serves as the inertial reference frame of the system. The excitation source provides external force or speed for the system and is an energy source of the system. The mass element and the spring element can store and release mechanical energy. Instead of providing mechanical energy to the system, the damping element may convert mechanical energy into potential energy, electrical energy, electromagnetic energy, etc. Since the force (or moment) and velocity (or angular velocity) collectively reflect two independent energy storage forms (potential energy and kinetic energy) and substance motion forms (momentum transfer and position change) in the mechanical system, similar to the voltage and current positions in the electrical system (respectively reflecting electric field energy and magnetic field energy, and the motion of electric charges and magnetic chains), the two are taken as two independent variables of the mechanical system for modeling various mechanical elements. In mechanical engineering, impedance is defined as the ratio of excitation to response. Since in real systems the excitation is typically a constant force source, the response is typically the displacement, velocity or acceleration of the element, so that provision is made for: the ratio of the constant force source to the displacement is the displacement impedance, the ratio of the constant force source to the speed is the speed impedance, the ratio of the constant force source to the acceleration is the acceleration impedance, and the inverse of the impedance is the admittance. The definition of impedance and admittance of the rotation amounts and so on. Specific equivalence principles are as follows:
force (f) → Voltage (u)
Velocity (v) → current (i)
Mass (m) → inductance (L)
Damping coefficient (c) → resistance (R)
Stiffness coefficient (k) → inverse capacitance (1/C)
Then, the set or collected wave (either regular wave or irregular wave) information is converted into a power supply signal through a corresponding equivalence principle to be supplied to an equivalent circuit. The voltage and current output by the equivalent circuit, force or speed information output by the analog wave energy conversion device, as a reference signal, are input to the asynchronous motor 1 controlled by the DSP vector controller 4, as an input reference torque of the asynchronous motor 1. The torque output from the electric motor 1 is transmitted to the permanent magnet synchronous generator 3 through the speed change gear box 2. The full electric simulation circuit of the wave energy conversion device shown in fig. 1 completely replaces the part of the wave energy conversion device for converting wave energy into mechanical energy, and realizes full electric simulation experiments. Due to the randomness of waves, the electric energy generated by the generator 3 generally cannot be directly supplied to a load, and needs to be converted into electric energy which can be directly utilized by the load through a three-phase PWM rectification and inversion process, and the rectification and inversion process is also controlled through the DSP controller 4.
The main functions of the DSP controller 4 shown in fig. 1 are as shown in fig. 2, wherein the system adopts an asynchronous motor vector control algorithm based on active disturbance rejection control, and a division link is added, and the output rotation speed control is realized by the asynchronous motor rotation speed (converted into a voltage signal), flux linkage, and current closed loop. In a current closed loop, the control system carries out static 3/2 transformation and rotation transformation on the detected three-phase current (only two phases of the detected three-phase current can be detected) to obtain the stator current i under the dq coordinate systemsdAnd isqA reference current i in dq coordinate system respectively outputted from a rotation speed regulator (ASR)5 and a flux linkage regulator (A ψ R)6sdA and isqComparison, a current closed-loop control is formed by a stator current excitation component regulator (ACMR)7 and a stator current torque component regulator (ACTR)8, and Active Disturbance Rejection Controllers (ADRCs) are adopted for the four regulators except for a flux linkage regulator 6 which uses PI regulation. A stator current excitation component regulator 7 and a stator current torque component regulator 8 respectively output a given value u of a stator voltage in a dq coordinate systemsdSum of usqObtaining a given value u of the stator current under a static two-phase coordinate system through reverse rotation transformationsαSum of usβAnd outputting three-phase voltage through the SVPWM control inverter. Flux linkage Extended State Observer (ESO) passes current i under static two-phase coordinate systemsα、isβEstimating observed values of stator flux linkage amplitude
Observed value of stator current
And observation of uncertain part of stator current
The observed value of the rotor speed is estimated by the supply speed estimator and converted into a voltage signal
Wherein
By extreme value transformation formula
To obtain
As a feedback value of the rotor flux linkage, with the flux linkage reference value ΨrComparing, and obtaining a reference current i under dq coordinate system through PI control of the flux linkage controller 6sdForming a closed flux linkage loop. The calculation formula of the magnetic chain angle is as follows:
An example of an all-electric analog circuit of the wave energy conversion device shown in fig. 1, namely a point absorption type single degree of freedom wave energy conversion device, is shown in fig. 3. The equivalent circuit of the point absorption type single-degree-of-freedom wave power generation device based on stress analysis mainly comprises a physical parameter unit of a floater, a unit for interaction of the floater and incident waves and a power output unit (PTO), and is connected through a connecting line part. The whole circuit consists of components such as a power supply, a switch, a resistor, a capacitor, an inductor and the like.
The physical parameter unit of the floater comprises: first inductance (L)1) A first capacitor (C)1) And a first DC power supply (U)S1) (ii) a The first inductor (L)1) By mass M of the floatbEquivalent, first capacitance (C)1) The variable part of the hydrostatic force, pgS equivalent, caused by the displacement of the float from the equilibrium position, is a first direct current source (U)S1) Spring pretightening force rho gV borne by the float endproloadAnd (4) equivalence.
Wherein the first DC power supply (U)S1) Positive polarity terminal and first capacitor (C)1) Is connected with the first end of the first connecting pipe; the first capacitor (C)1) A second terminal and a first inductor (L)1) Is connected to the first end of the first housing.
The float and incident wave interaction unit comprises: first AC power supply (u)s1) A second AC power supply (u)s1'), a second inductor (L)2) A third inductor (L)2'), a first resistor (R)1) A second resistor (R)1') to a host; the first AC power supply (u)s1) The force F of the incoming wave on the float under the tension of the cableeAs driving force equivalent, a second alternating current power supply (u)s1') force F of the incoming wave on the float from the slack condition of the cableeAs driving force equivalent, second inductance (L)2) Additional mass m under tension by the cableaEquivalent, third inductance (L)2') additional mass m in the relaxed state of the cablea' equivalent, first resistance (R)1) Equivalent by the radiation damping coefficient B in the tensioned state of the cable, a second resistance (R)1') is equivalent by the radiation damping coefficient B' in the cable relaxed state.
Wherein the first AC power source (u)s1) Are respectively connected with a first inductor (L)1) And a second terminal of (L) and a second inductance (L)2) A first end of (a); the second inductance (L)2) Is connected to a first resistor (R)1) A first end of (a); the first resistor (R)1) Is connected to the first switch (S)1) (ii) a The second AC power supply (u)s1') are respectively connected with the first inductor (L)1) And a third inductance (L)2') a first end; the third inductance (L)2') is connected at a second end thereof to a second resistor (R)1') a first end; the second resistor (R)1') is connected at a second end to a second switch (S)1') to a host; and a port I is led out from the positive polarity end of the first direct current power supply.
The power take-off unit (PTO) of the float comprises: a first variable resistor (R)2) A second capacitor (C)2) A third capacitor (C)3) A fourth inductor (L)3) A second DC power supply (U)S2) A third DC power supply (U)S3) And a fourth DC power supply (U)S4) (ii) a The first variable resistor (R)2) The area of overlap of the rotor and stator parts (also called effective area ratio A)act) Equivalent, second capacitance (C)2) By the spring constant k of the retraction springsEquivalent, third capacitance (C)3) By the spring constant k of the retaining springend-stopEquivalent, fourth inductance (L)3) By rotor mass MtEquivalent, second direct current power supply (U)S2) Spring preload F applied by the rotor endpreloadEquivalent, third DC power supply (U)S3) By gravity M of the rotortg equivalent, fourth DC power supply (U)S4) Compression force k generated by retaining springend-stopuesAnd (4) equivalence.
Wherein the second DC power supply (U)S2) Is connected with a first direct current power supply (U)S1) The positive polarity terminal of (1); the third DC power supply (U)S3) And a first variable resistor (R)2) Is connected with a second direct current power supply (U)S2) The positive polarity terminal of (1); the fourth DC power supply (U)S4) Is connected to a first variable resistor (R)2) A second end of (a); the third capacitance (C)3) Is connected with a fourth direct current power supply (U)S4) A negative polarity terminal of; the second capacitance (C)2) Are respectively connected with a third switch (S)2) And a fourth inductance (L)3) A first end of (a); the fourth inductance (L)3) Is connected to the fourth switch (S)3) (ii) a From the third direct current source (U)S3) The negative polarity terminal of (3) is led out of a port III; from the third capacitance (C)3) The second end of the first terminal is led out of a port IV; from the first variable resistance (R)2) Out of port v.
The connecting line part is used as a bridge to connect the three main parts and mainly comprises a fourth capacitor (C)4) (ii) a The fourth capacitor (C)4) Spring constant k modeled as a spring when tensioned by a cablelineAnd (4) equivalence.
Wherein the negative terminal of the first DC power supply is connected with a fourth capacitor (C)4) A first end of (a); from the fourth capacitance (C)4) And the second end of (a) leads out of port II.
The first switch (S)1) The device can be arranged at the port II to show the interaction condition of the floater and waves in the tensioning state of the connecting line; the second switch (S)1') can be placed at port I to indicate the condition of the float in the slack condition of the connecting line interacting with the waves; the third switch (S)2) The linear generator rotor lifting mechanism can be arranged at the ports II and III and respectively corresponds to the conditions that the rotor of the linear generator is lifted under the action of a connecting line and falls under the action of the gravity of the rotor; the fourth switch (S)3) It can be placed at ports iv, v, corresponding to the case where the rotor compresses the retaining spring and does not hit the retaining spring, respectively. Switch S1、S2、S3Different working states of the device are obtained by connecting different circuits, and the table 1 is referred to.
TABLE 1 working state of single degree of freedom wave power generation device
Claims (2)
1. An all-electric wave energy power generation experimental system comprises an analog circuit for simulating a point absorption type single-degree-of-freedom wave power generation device, an asynchronous motor, a permanent magnet synchronous generator and a controller, and is characterized in that,
the analog circuit comprises a physical parameter unit of the floater, a unit of interaction of the floater and incident waves, a power take-off unit (PTO) and a connecting line part;
the physical parameter unit of the floater comprises: first inductance (L)1) A first capacitor (C)1) And a first DC power supply (U)S1) (ii) a The first inductor (L)1) By mass M of the floatbEquivalent, first capacitance (C)1) The variable part of the hydrostatic force, pgS equivalent, caused by the displacement of the float from the equilibrium position, is a first direct current source (U)S1) Spring pretightening force rho gV borne by the float endproloadEquivalence is carried out;
wherein the first DC power supply (U)S1) Positive polarity terminal and first capacitor (C)1) Is connected with the first end of the first connecting pipe; the first capacitor (C)1) A second terminal and a first inductor (L)1) Is connected with the first end of the first connecting pipe;
the float and incident wave interaction unit comprises: first AC power supply (u)s1) A second AC power supply (u)s1'), a second inductor (L)2) A third inductor (L)2'), a first resistor (R)1) A second resistor (R)1') to a host; the first AC power supply (u)s1) The force F of the incoming wave on the float under the tension of the cableeAs driving force equivalent, a second alternating current power supply (u)s1') force F of the incoming wave on the float from the slack condition of the cableeAs driving force equivalent, second inductance (L)2) Additional mass m under tension by the cableaEquivalent, third inductance (L)2') additional mass m in the relaxed state of the cablea' equivalent, first resistance (R)1) Equivalent by the radiation damping coefficient B in the tensioned state of the cable, a second resistance (R)1') is equivalent by the radiation damping coefficient B' in the cable slack state;
wherein the first AC power source (u)s1) Are respectively connected with a first inductor (L)1) And a second terminal of (L) and a second inductance (L)2) A first end of (a); the second inductance (L)2) Is connected to a first resistor (R)1) A first end of (a); the first resistor (R)1) Is connected to the first switch (S)1) (ii) a The second AC power supply (u)s1') are respectively connected with the first inductor (L)1) And a third inductance (L)2') a first end; the third inductance (L)2') is connected at a second end thereof to a second resistor (R)1') a first end; the second resistor (R)1') is connected at a second end to a second switch (S)1') to a host; leading out a port I from a positive polarity end of the first direct current power supply;
the power take-off unit (PTO) of the float comprises: a first variable resistor (R)2) A second capacitor (C)2) A third capacitor (C)3) A fourth inductor (L)3) A second DC power supply (U)S2) A third DC power supply (U)S3) And a fourth DC power supply (U)S4) (ii) a The first variable resistor (R)2) The area of overlap of the rotor and stator parts (also called effective area ratio A)act) Equivalent, second capacitance (C)2) By the spring constant k of the retraction springsEquivalent, third capacitance (C)3) By the spring constant k of the retaining springend-stopEquivalent, fourth inductance (L)3) By rotor mass MtEquivalent, second direct current power supply (U)S2) Spring preload F applied by the rotor endpreloadEquivalent, third DC power supply (U)S3) By gravity M of the rotortg equivalent, fourth DC power supply (U)S4) The compression force k generated by the retaining springend- stopuesEquivalence is carried out;
wherein the second DC power supply (U)S2) Is connected with a first direct current power supply (U)S1) The positive polarity terminal of (1); the third DC power supply (U)S3) And a first variable resistor (R)2) Is connected with a second direct current power supply (U)S2) The positive polarity terminal of (1); the fourth DC power supply (U)S4) Is connected to a first variable resistor (R)2) A second end of (a); the third capacitance (C)3) Is connected with a fourth direct current power supply (U)S4) A negative polarity terminal of; the second capacitance (C)2) Are respectively connected with a third switch (S)2) And a fourth inductance (L)3) A first end of (a); the fourth inductance (L)3) Second end of the second switch is connected with the fourth switchOff (S)3) (ii) a From the third direct current source (U)S3) The negative polarity terminal of (3) is led out of a port III; from the third capacitance (C)3) The second end of the first terminal is led out of a port IV; from the first variable resistance (R)2) The second end of (a) leads out of port v;
the connecting line part is used as a physical parameter unit of a bridge connecting floater, a unit of interaction of the floater and incident waves and a power take-off unit (PTO), and mainly comprises a fourth capacitor (C)4) (ii) a The fourth capacitor (C)4) Spring constant k modeled as a spring when tensioned by a cablelineEquivalence is carried out;
wherein the negative terminal of the first DC power supply is connected with a fourth capacitor (C)4) A first end of (a); from the fourth capacitance (C)4) The second end of the switch is led out of a port II;
the first switch (S)1) The device can be arranged at the port II to show the interaction condition of the floater and waves in the tensioning state of the connecting line; the second switch (S)1') can be placed at port I to indicate the condition of the float in the slack condition of the connecting line interacting with the waves; the third switch (S)2) The device can be arranged at the port II or the port III and respectively corresponds to the conditions that the rotor of the linear generator is lifted under the action of the connecting wire and falls under the action of the gravity of the rotor; the fourth switch (S)3) The rotor can be arranged at a port IV or a port V and respectively corresponds to the situation that the rotor compresses the stop spring and does not touch the stop spring; a first switch (S)1) A second switch (S)1'), a third switch (S)2) And a fourth switch (S)3) Different working states of the device are obtained by connecting different circuits.
2. The experimental system of claim 1, wherein the controller adopts an asynchronous motor vector control algorithm based on active disturbance rejection control, a division link is added, output rotation speed control is realized through asynchronous motor rotation speed, flux linkage and current closed loop, and in the current closed loop, static 3/2 transformation and rotation transformation are performed on detected three-phase current to obtain stator current i in dq coordinate systemsdAnd isqWith reference currents i in dq coordinate system output by the speed regulator and flux regulator, respectivelysdA and isqComparing, forming current closed loop control by the stator current excitation component regulator and the stator current torque component regulator, wherein the four regulators adopt active disturbance rejection controllers except the flux linkage regulator which uses PI regulation.
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