CN109555635B - Sea wave power generation system based on fuzzy control - Google Patents

Sea wave power generation system based on fuzzy control Download PDF

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Publication number
CN109555635B
CN109555635B CN201711379351.8A CN201711379351A CN109555635B CN 109555635 B CN109555635 B CN 109555635B CN 201711379351 A CN201711379351 A CN 201711379351A CN 109555635 B CN109555635 B CN 109555635B
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current
wave
power generation
rotating speed
power
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CN201711379351.8A
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CN109555635A (en
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郭靖
雷美珍
夏永明
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浙江理工大学
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03BMACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12Adaptations 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
    • F03B13/14Adaptations 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
    • F03B13/22Adaptations 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 flow of water resulting from wave movements to drive a motor or turbine
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03BMACHINES OR ENGINES FOR LIQUIDS
    • F03B15/00Controlling
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/32Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05BINDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2220/00Application
    • F05B2220/70Application in combination with
    • F05B2220/706Application in combination with an electrical generator
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/30Energy from the sea, e.g. using wave energy or salinity gradient

Abstract

The invention relates to a fuzzy control-based sea wave power generation system, which comprises a mechanical power device, a control device, a power generation device and a rectification and energy storage device. For a mechanical power plant, comprising: the magnetorheological fluid. The invention adopts a fuzzy control technology, applies the modern fuzzy control technology to a dynamic system of wave energy power generation system, stores a plurality of rules summarized according to the actual conditions of influencing factors in a computer, utilizes the quantification of fuzzy set theory to realize the intelligent operation of regulating and controlling the rotating speed of a generator by the current of an electromagnetic coil, and realizes sustainable and stable power generation while protecting the safe work of the power generation system in bad weather.

Description

Sea wave power generation system based on fuzzy control

Technical Field

The invention relates to the technical field of sea wave power generation, in particular to a sea wave power generation system based on fuzzy control.

Background

With the continuous development of society and economy and the rapid expansion of population, the energy consumed by human beings is increasing, but it is well known that the energy reserves of the whole earth are limited. Since the first oil crisis in 1973, the development and utilization of renewable energy sources have been gaining increasing importance. At present, renewable new energy is developed and utilized, so that the energy structure of the energy can be adjusted, the sustainable development of the energy is realized, the requirement of human beings on the energy is met, and the common knowledge is achieved in various countries of the world.

The ocean area accounts for about 70% of the global area, and according to statistics in the text "ocean energy development" published by the united nations textbook organization, the ocean energy resource which can be developed globally is about 7.7366 × 1015W, and the ocean energy exists in the vast ocean in the forms of wave energy, tidal current energy, temperature difference energy and the like, wherein the exploitable amount of the ocean wave energy can reach 3 × 1012W, and the report published by international energy agency (IAE) in 1994 predicts that: wave energy, if fully developed, can ultimately provide around 10% of the current global power demand. As a renewable clean energy source, the wave energy has wide distribution, large reserve and large energy flux density, and can provide considerable cheap energy (mainly electric energy) only by a small device. The development of the wave energy can also provide help for national defense, ocean development, agricultural electricity utilization and other activities in remote sea areas, and is beneficial to the sustainable development of the human society.

In recent decades, wave energy power generation technology has been rapidly developed, and various forms of wave energy power generation devices are in the endlessly. The oscillating float type wave power generation device is designed and manufactured by a Japanese researcher at the earliest time, and utilizes the up-and-down oscillation of a float under the action of waves to drive a generator to generate power through a mechanical transmission system. Similar to wind power generation and tidal current energy power generation, the oscillating float type wave power generation system researched at home and abroad at present adopts mechanical transmission mostly and hydraulic transmission less. In a machine set adopting mechanical transmission, the problems of high failure rate of a gear box, inconvenient underwater maintenance, unstable transmission, unchanged speed regulation and the like generally exist, and the defects directly restrict the development of wave energy equipment.

Disclosure of Invention

The invention provides a fuzzy control-based sea wave power generation system, which aims to overcome the defects in the prior art, overcomes the defects of low transmission efficiency, slow speed regulation, unstable and continuous power generation and the like of a mechanical transmission power generation system and a traditional hydraulic transmission power generation system by adopting a fuzzy controller, and realizes stable transmission, convenient speed regulation and sustainable and stable power generation.

In order to achieve the above object, the present invention has the following configurations:

the sea wave power generation system based on fuzzy control comprises a mechanical power device, a control device, a power generation device and a rectification and energy storage device; wherein:

the mechanical power device comprises a hydraulic cylinder, a floater, a connecting rod and a wave plate, wherein the connecting rod is respectively connected with the floater and the wave plate, the inner space of the hydraulic cylinder is divided into an upper space and a lower space by the wave plate, and each space is filled with a fixed amount of magnetorheological fluid and is respectively connected with a magnetorheological fluid pipeline;

the control device comprises magnetorheological fluid, a magnetorheological fluid pipeline, a control module, a power transmission line, an ohm dragon encoder and an electromagnetic coil, wherein the magnetorheological fluid exists in the hydraulic cylinder and in the magnetorheological fluid pipeline, the electromagnetic coil surrounds the magnetorheological fluid pipeline and is respectively connected with the control module and the rectifying and energy storing device through the power transmission line, and the ohm dragon encoder is connected with the control module;

the power generation device comprises a hydraulic motor and a permanent magnet synchronous generator, the hydraulic motor is connected with the magnetorheological fluid pipeline, the hydraulic motor is synchronously connected with the permanent magnet synchronous generator, and the ohm encoder detects the rotating speed of the permanent magnet synchronous generator.

Optionally, the control module includes a fuzzy controller and a current driver, the fuzzy controller is connected to the current driver, and the current driver is connected to the electromagnetic coil and the rectifying and energy storing device through a power transmission line.

Optionally, the rectification and energy storage device includes a rectification circuit and an energy storage module, the rectification circuit is connected to the permanent magnet synchronous generator, and the energy storage module is connected to the current driver and the rectification circuit, respectively.

Optionally, the current driver includes an adjusting circuit, a current sampling circuit, an amplifier circuit, a current comparing and amplifying circuit, and an auxiliary power supply, where an output end of the adjusting circuit is connected to an input end of the current sampling circuit, an output end of the current sampling circuit is connected to an input end of the amplifier through the current comparing and amplifying circuit, the auxiliary power supply is connected to an input end of the amplifier and the current comparing and amplifying circuit, an output end of the fuzzy controller is connected to an input end of the current comparing and amplifying circuit, an output end of the current sampling circuit is connected to an input end of the current comparing and amplifying circuit and the electromagnetic coil, respectively, and an input end of the adjusting circuit is connected to the rectifying and energy storing device.

Optionally, the ohm dragon encoder inputs the deviation value and the deviation variation of the rotating speed of the permanent magnet synchronous generator and the target rotating speed into the fuzzy controller, the fuzzy controller outputs control information of the electromagnetic coil to the current driver, and the electromagnetic coil changes the viscosity degree of the magnetorheological fluid by changing the magnetic field intensity, so that the rotating speed of the permanent magnet synchronous generator is changed by changing the rotating speed of the hydraulic motor.

Optionally, in the wave power generation system, the heaving motion of the float on the waves satisfies the following equation:

wherein: m is the mass of the float, FfliudFluid forces acting on the float for waves, FPTOThe hydraulic damping force borne by the floater, g is the gravity acceleration, Z (t) is the displacement of the floater in the vertical direction, and t is the movement moment of the floater;

the instantaneous transmission power P (t) of the float and the average transmission power P1 of the float in a period of time delta t are respectively as follows:

P(t)=-FPTO(t)V(t)

wherein: fPTOIs the instantaneous hydraulic damping force experienced by the float, and v (t) is the instantaneous velocity of the float;

the acting force of the wave plate on the hydraulic cylinder is as follows:

F=Ffliud-(mg+m1g)

wherein: m is the weight of the float, m1Is the weight of the connecting rod.

Optionally, the wave energy captured by the float is transferred to the hydraulic cylinder through the wave plate, so the power equation of the single hydraulic cylinder is:

FV=p0qv

wherein: v is the velocity of the cylinder piston, p0The pressure at the cavity of the hydraulic cylinder is shown, and qv is the volume output flow of the hydraulic cylinder;

the torque balance equation of the shafting of the hydraulic motor is as follows:

wherein: t ismShafting moments for hydraulic motors, G and DmWeight and diameter of flywheel on hydraulic motor shafting, nmFor the speed of the hydraulic motor, BmIs the shafting viscous damping coefficient, T, of the hydraulic motorgIs the generator torque;

the torque relation of the permanent magnet synchronous generator is as follows:

wherein: t isgIs the generator torque, P1Average transfer power of the buoy, n, for a period of time Δ t1Is the generator speed.

Optionally, the fuzzy controller selects the acceleration to be 4m/S2The sine wave of (1); when the acceleration acts on the permanent magnet synchronous generator, the rotating speed of the permanent magnet synchronous generator is controlled to be 365-395 rpm, the rated rotating speed is 380 rpm, the rated rotating speed is a balance point, the domain of the rotating speed is 365-395 rpm, and the domain of the control current is 0-2A.

Optionally, acceleration and control currents are discretized into 5 levels VS (small), S (small), M (medium), L (large), V L (large), and speed is discretized into 7 levels N L (negative large), NM (negative medium), NS (negative small), ZE (zero), PS (positive small), PM (positive medium), P L (positive large);

fuzzy sets of acceleration, speed and control current are respectively set as A { (VS, S, M, L, V L }, N { (N L, NM, NS, ZE, PS, PM, P L }, fuzzy domains of acceleration, rotation speed and current are set as 0-4M/S2365~395 rpm and 0E2A。

The deviation is recorded as a quantization factor KeFrom the representation of the fundamental and ambiguity domains of the deviation, the following equation can be derived:

optionally, a velocity quantization factor Kn1 is ═ 1; the quantization factor of the rate of change of the deviation is Ka1 is ═ 1; current scale factor Ki=1。

By adopting the fuzzy control-based sea wave power generation system and the magnetorheological damper made of the magnetorheological fluid, under the action of a magnetic field, the magnetorheological fluid can be quickly and reversibly converted from Newtonian fluid with good fluidity into plastic solid with high viscosity and low fluidity Bingham within millisecond-level time, so that the damper has the advantages of low energy consumption, high response speed, simple structure and continuously adjustable damping force, and can be conveniently combined with microcomputer control; meanwhile, the system adopts a fuzzy control technology, applies a modern fuzzy control technology to a dynamic system of wave energy power generation system, stores a plurality of rules summarized according to the actual conditions of the influencing factors in a computer, utilizes the quantification of a fuzzy set theory to realize the intelligent operation of regulating and controlling the rotating speed of the generator by the current of the electromagnetic coil, and realizes the sustainable and stable power generation while protecting the safe work of the power generation system in bad weather.

Drawings

FIG. 1 is a block diagram of the external structure of a fuzzy control based wave power generation system of the present invention;

FIG. 2 is a schematic structural diagram of a rectifying device of a fuzzy control-based wave power generation system of the invention;

FIG. 3 is a schematic block diagram of a current driver of a fuzzy control based wave power generation system of the present invention;

FIG. 4 is a diagram of the current driving circuit of FIG. 3;

FIG. 5 is a schematic diagram of a fuzzy controller of the present invention;

FIG. 6 is a table of fuzzy control rules of the present invention;

FIG. 7 is a fuzzy control look-up table generated from the fuzzy inference results of the present invention.

Detailed Description

In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.

As shown in fig. 1, the present invention provides a fuzzy control based sea wave power generation system, which comprises a mechanical power device, a fuzzy control device 10, a power generation device, a rectification and energy storage device; wherein:

the mechanical power device comprises a hydraulic cylinder 1, a floater 2, a connecting rod 3 and a wave plate 4, the fuzzy control device 10 comprises magnetorheological fluid, a magnetorheological fluid pipeline 5, a control module, a power transmission line, an ohm dragon encoder 8 and an electromagnetic coil 11, the power generation device comprises a hydraulic motor 6 and a permanent magnet synchronous generator 7, and the ohm dragon encoder 8 detects the rotating speed of the permanent magnet synchronous generator 7.

A hydraulic cylinder 1 in a mechanical power device is divided into an upper space and a lower space by a wave plate 4, and a floater 2 is connected with the wave plate 4 through a connecting rod 3; the hydraulic cylinder 1 is respectively connected with an upper magnetorheological fluid pipeline 5 and a lower magnetorheological fluid pipeline 5, magnetorheological fluids exist in the hydraulic cylinder 1 and the magnetorheological fluid pipelines 5, the magnetorheological fluid pipelines 5 are connected with the hydraulic motor 6 and further connected to the permanent magnet synchronous generator 7 through the same shaft rod, and the synchronous generator is provided with the ohm dragon encoder 8; the permanent magnet synchronous generator 7 is connected with a rectification and energy storage device 9 through a power transmission line, and a fuzzy control device 10 is respectively connected with the energy storage device 9 and an electromagnetic coil 11. The energy storage device 9 respectively supplies power to the ohm dragon encoder 8, the fuzzy control device 10 and the electromagnetic coil 11.

The BMR hydraulic motor is selected as the hydraulic motor, and the BMR hydraulic motor is an axial flow distribution motor and adopts a design of a stator and a rotor with embedded needle teeth, so that the starting pressure is low, the efficiency is high, and the retentivity is good; the shaft seal has reliable shaft seal design, bears high back pressure, can be used in series and parallel connection, and is beneficial to expansion and use; the positive and negative rotation reversing is convenient and the rotating speed is stable; the motor has compact structure and convenient installation. The BMR hydraulic motor is used to convert the magnetorheological fluid pressure energy into mechanical energy (i.e., torque and rotational speed) at its output shaft.

The permanent magnet synchronous generator is an N35SH three-phase permanent magnet synchronous alternating current generator, the rated power is 2000W, the rated rotating speed is 380 r/min, and the working temperature is minus 40-60 ℃; the motor adopts permanent magnets of neodymium, iron and boron magnets; the stator adopts high-strength, difficult-to-deform and high-quality cold-rolled silicon steel sheets; the winding adopts a round copper enameled wire, and is subjected to vacuum constant-temperature thermal paint dipping, so that the insulation grade is improved, the power generation efficiency is improved, and the starting torque of the generator is reduced. The generator converts mechanical energy output by the hydraulic motor on the other side of the coaxial rod into electric energy to be output, and the electric energy is stored to the energy storage device through the rectifying circuit.

The ohm dragon encoder selects an E6B2-CWZ6C QMRON encoder, uses a DC 5-24V wide range power supply mode, has the resolution as high as 2000, has the response frequency as high as 100 x 3KHZ, allows the highest rotating speed to reach 6000 rpm, is provided with a load short circuit protection circuit and a power supply reverse connection protection circuit, has the working environment temperature range of-10 ℃ to +70 ℃, and has the advantages of small vibration, strong durability, small volume, low power consumption and the like. And the ohm dragon encoder transmits the measured rotating speed of the generator to the fuzzy controller for subsequent fuzzy processing.

Referring to fig. 2, the rectifying and energy storing device 9 comprises a rectifying circuit 12 and an energy storing device 13, the rectifying circuit 12 is connected with the permanent magnet synchronous generator 7 and is also connected with the energy storing device 13, and three-phase alternating current generated by the generator is converted into direct current through the rectifying circuit 12 and is stored in the energy storing device 13; the fuzzy control device 10 comprises a fuzzy controller 14 and a controllable current driver 15, wherein the fuzzy controller 14 is connected with the electromagnetic coil 11 and is also connected with the controllable current driver 15, and the controllable current driver 15 is connected with the energy storage device 13 so as to supply current to the electromagnetic coil 11.

The rectifier circuit adopts a three-phase uncontrollable rectifier circuit, the circuit is simple, a thyristor which needs to control a power supply to carry out commutation is not used, and the capacitor can play a role in making direct current side current continuous, so that the current can be smoothly output.

Referring to fig. 3, the controllable current driver 15 includes an adjusting circuit, a current sampling circuit, an amplifier circuit, a current comparing and amplifying circuit, and an auxiliary power supply, and the control signal is the output signal of the fuzzy controller 14; the fuzzy controller 14 outputs a control signal, outputs direct current through the current driving circuit to control the electromagnetic coil 11, generates magnetic fields with different magnetic field strengths, further changes the viscosity degree of the magnetorheological fluid, and indirectly controls the rotating speed of the hydraulic motor 6, namely controls the rotating speed of the permanent magnet synchronous generator 7 to stably and continuously generate power.

Referring to fig. 4, VCC + and VCC-are voltages provided by an auxiliary power supply, L1 and C1 constitute a current comparison amplifying circuit, L2, R1, R2, R3 and R4 constitute an amplifying circuit, Q1 and Q2 constitute an adjusting circuit, R6, R7, R8 and R9 constitute a current sampling circuit, and L and R10 are simplified inductors and resistors of a solenoid coil.

In the driving power supply, the voltage of the inverting terminal of the operational amplifier of the current comparison amplifying circuit is high and low and reflects the magnitude of the output current, the voltage of the inverting terminal is the voltage drop generated by the output current flowing through the current sampling circuit, when the control voltage of the fuzzy controller is changed, the reference value of the non-inverting input terminal of the comparison amplifying circuit is changed along with the change of the output voltage of the operational amplifier, the output voltage is changed along with the change of the output voltage, the voltage drop of the current sampling circuit is changed, and therefore the constant output current value is changed. Thus, the change of the current can be adjusted by changing the reference value of the non-inverting input end of the current comparison amplifying circuit through fuzzy control.

Referring to fig. 5, the fuzzy control device 10 is composed of a fuzzy controller 14, a controllable current driver 15, an electromagnetic coil 11 and an ohm dragon encoder 8; the fuzzy controller 14 inputs the deviation and the deviation variable quantity between the rotating speed of the permanent magnet synchronous generator 7 and the target rotating speed and outputs the control current of the electromagnetic coil 11; the control current acts on the electromagnetic coil 11 to generate a magnetic field to change the viscosity degree of the magnetorheological fluid, so as to change the rotating speed of the hydraulic motor 6, namely change the rotating speed of the permanent magnet synchronous generator 7 to continuously and stably generate electricity; the ohm dragon encoder 8 detects the rotating speed of the permanent magnet synchronous generator 7, compares the rotating speed with a target value and inputs the rotating speed into the fuzzy controller 14.

According to Newton's second law, the heaving motion of the float on the waves satisfies the following general equation:

in the formula: m is the mass of the float, FfliudFluid forces acting on the float for waves, FPTOG is the gravitational acceleration, z (t) is the displacement of the float in the vertical direction, and t is the moment of movement of the float.

The instantaneous float transmission power P (t) and the average float transmission power P1 over a period of time Δ t are:

P(t)=-FPTO(t)V(t)

in the formula: fPTOIs the instantaneous hydraulic damping force experienced by the float, and v (t) is the instantaneous velocity of the float.

The acting force of the wave plate on the hydraulic cylinder is as follows:

F=Ffliud-(mg+m1g)

in the formula: m is the weight of the float, m1Is the weight of the connecting rod.

The wave energy captured by the floater is transmitted to the transverse hydraulic cylinder through the wave plate, so that the power equation of the single hydraulic cylinder is as follows:

FV=p0qv

in the formula: v is liquidVelocity, p, of cylinder piston0The pressure at the cavity of the hydraulic cylinder and qv the volume output flow of the hydraulic cylinder.

The moment balance equation of the hydraulic motor shafting is as follows:

in the formula: t ismShafting moments for hydraulic motors, G and DmWeight and diameter of flywheel on hydraulic motor shafting, nmFor the speed of the hydraulic motor, BmIs the shafting viscous damping coefficient, T, of the hydraulic motorgIs the generator torque.

The torque relation of the generator is as follows:

in the formula: t isgIs the generator torque, P1Average transfer power of the buoy, n, for a period of time Δ t1Is the generator speed.

The input to a conventional two-dimensional fuzzy controller is the offset and the rate of change of the offset. The deviation signal of the controller is the rotating speed of the permanent magnet synchronous generator, and the change rate of the deviation signal is the acceleration. The acceleration is selected to be 4m/s2Of (c) is a sine wave. When the acceleration acts on the generator, the rotating speed is controlled to be 365-395 rpm, the rated rotating speed is 380 rpm, the rated rotating speed is a balance point, the domain of the rotating speed is 365-395 rpm, and the domain of the control current is 0-2A.

The acceleration and control current are discretized into 5 grades, VS (small), S (small), M (middle), L (large) and V L (large), the speed is discretized into 7 grades, N L (negative large), NM (negative middle), NS (negative small), ZE (zero), PS (positive small), PM (middle), P L (positive large), fuzzy sets of acceleration, speed and current are respectively A ═ VS, S, M, L and V L, N ═ N L, NM, NS, ZE, PS, PM and P L, fuzzy domains of acceleration, rotation speed and current are defined as 0-4M/S in consideration of precision and simplicity of fuzzy calculation2365-395 rpm and 0-2A.

The deviation is recorded as a quantization factor KeFrom the representation of the basic discourse domain and the fuzzy discourse domain of the deviation, one can derive:

the speed quantization factor K in the present systemn=1。

Similarly, let the quantization factor of the rate of change of the deviation be Ka1 is ═ 1; current scale factor Ki=1。

The system selects the membership function according to the operation experience and the variable characteristics, and the membership functions of the input quantity and the output quantity adopt trigonometric functions in consideration of the calculation rapidity and the control instantaneity. The table in fig. 6 is queried based on dynamic analysis of the power generation system, and the fuzzy control rules of the present system are found with reference to various documents. The fuzzy inference results generate fuzzy control queries to the table in fig. 7.

By adopting the fuzzy control-based sea wave power generation system and the magnetorheological damper made of the magnetorheological fluid, under the action of a magnetic field, the magnetorheological fluid can be quickly and reversibly converted from Newtonian fluid with good fluidity into plastic solid with high viscosity and low fluidity Bingham within millisecond-level time, so that the damper has the advantages of low energy consumption, high response speed, simple structure and continuously adjustable damping force, and can be conveniently combined with microcomputer control; meanwhile, the system adopts a fuzzy control technology, applies a modern fuzzy control technology to a dynamic system of wave energy power generation system, stores a plurality of rules summarized according to the actual conditions of the influencing factors in a computer, utilizes the quantification of a fuzzy set theory to realize the intelligent operation of regulating and controlling the rotating speed of the generator by the current of the electromagnetic coil, and realizes the sustainable and stable power generation while protecting the safe work of the power generation system in bad weather.

In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims (5)

1. A sea wave power generation system based on fuzzy control is characterized by comprising a mechanical power device, a control device, a power generation device and a rectification and energy storage device; wherein:
the mechanical power device comprises a hydraulic cylinder, a floater, a connecting rod and a wave plate, wherein the connecting rod is respectively connected with the floater and the wave plate, the inner space of the hydraulic cylinder is divided into an upper space and a lower space by the wave plate, and each space is filled with a fixed amount of magnetorheological fluid and is respectively connected with a magnetorheological fluid pipeline;
the control device comprises magnetorheological fluid, a magnetorheological fluid pipeline, a control module, a power transmission line, an ohm dragon encoder and an electromagnetic coil, wherein the magnetorheological fluid exists in the hydraulic cylinder and in the magnetorheological fluid pipeline, the electromagnetic coil surrounds the magnetorheological fluid pipeline and is respectively connected with the control module and the rectifying and energy storing device through the power transmission line, and the ohm dragon encoder is connected with the control module;
the power generation device comprises a hydraulic motor and a permanent magnet synchronous generator, the hydraulic motor is connected with the magnetorheological fluid pipeline, the hydraulic motor is synchronously connected with the permanent magnet synchronous generator, and the ohm encoder detects the rotating speed of the permanent magnet synchronous generator;
the control module comprises a fuzzy controller and a current driver, the fuzzy controller is connected with the current driver, and the current driver is connected with the electromagnetic coil and the rectifying and energy storing device through a power transmission line;
the current driver comprises an adjusting circuit, a current sampling circuit, an amplifier circuit, a current comparison amplifying circuit and an auxiliary power supply, wherein the output end of the adjusting circuit is connected with the input end of the current sampling circuit, the output end of the current sampling circuit is connected with the input end of the amplifier through the current comparison amplifying circuit, the auxiliary power supply is connected with the input end of the amplifier and the current comparison amplifying circuit, the output end of the fuzzy controller is connected with the input end of the current comparison amplifying circuit, the output end of the current sampling circuit is respectively connected with the input end of the current comparison amplifying circuit and the electromagnetic coil, and the input end of the adjusting circuit is connected with the rectifying and energy storing device;
the ohm dragon encoder inputs the deviation value and the deviation variable quantity of the rotating speed of the permanent magnet synchronous generator and the target rotating speed into the fuzzy controller, the fuzzy controller outputs control information of the electromagnetic coil to the current driver, the electromagnetic coil changes the viscosity degree of the magnetorheological fluid by changing the magnetic field intensity, and therefore the rotating speed of the permanent magnet synchronous generator is changed by changing the rotating speed of the hydraulic motor.
2. A fuzzy control based wave power generation system according to claim 1, wherein said rectifying and energy storing means comprises a rectifying circuit and an energy storing module, said rectifying circuit is connected with said permanent magnet synchronous generator, said energy storing module is respectively connected with said current driver and said rectifying circuit.
3. A fuzzy control based wave power system as set forth in claim 1, wherein the heaving motion of the float on the waves in the wave power system satisfies the following equation:
wherein: m is the mass of the floater,the fluid force acting on the float for the wave,is the hydraulic damping force applied to the float, g is the gravitational acceleration,the displacement of the floater in the vertical direction is shown, and t is the moment of the movement of the floater;
instantaneous transmission power of the floatAnd a period of timeThe average transmission power P1 of the inner buoy is:
wherein:is the instantaneous hydraulic damping force to which the float is subjected,is the instantaneous velocity of the float;
the acting force of the wave plate on the hydraulic cylinder is as follows:
wherein: m is the weight of the float,is the weight of the connecting rod.
4. A fuzzy control based wave power generation system as set forth in claim 3, wherein the wave energy captured by said floats is transferred to said hydraulic cylinders through said wave plates, so that the power equation of a single hydraulic cylinder is:
wherein:the speed of the piston of the hydraulic cylinder is,the pressure at the cavity of the hydraulic cylinder is the pressure,outputting the flow for the volume of the hydraulic cylinder;
the torque balance equation of the shafting of the hydraulic motor is as follows:
wherein:is the shafting moment of the hydraulic motor,andrespectively the weight and the diameter of a flywheel on a hydraulic motor shafting,the rotation speed of the hydraulic motor is set,is the shafting viscosity damping coefficient of the hydraulic motor,is the generator torque;
the torque relation of the permanent magnet synchronous generator is as follows:
wherein:in order to be the torque of the generator,is a period of timeThe average transmitted power of the buoy is,is the generator speed.
5. A fuzzy control based wave power system as claimed in claim 4, wherein the fuzzy controller selects an acceleration of 4The sine wave of (1); when the acceleration acts on the permanent magnet synchronous generator, the rotating speed of the permanent magnet synchronous generator is controlled to be 365-395 rpm, the rated rotating speed is 380 rpm, the rated rotating speed is a balance point, the domain of the rotating speed is 365-395 rpm, and the domain of the control current is 0-2A.
CN201711379351.8A 2017-12-19 2017-12-19 Sea wave power generation system based on fuzzy control CN109555635B (en)

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