CN109578205B - Control method of intelligent rapid braking system of wind turbine - Google Patents
Control method of intelligent rapid braking system of wind turbine Download PDFInfo
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- CN109578205B CN109578205B CN201811421234.8A CN201811421234A CN109578205B CN 109578205 B CN109578205 B CN 109578205B CN 201811421234 A CN201811421234 A CN 201811421234A CN 109578205 B CN109578205 B CN 109578205B
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- 238000000034 method Methods 0.000 title claims abstract description 21
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- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000007789 sealing Methods 0.000 claims abstract description 12
- 238000003780 insertion Methods 0.000 claims abstract description 5
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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
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
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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
- F05B2260/00—Function
- F05B2260/90—Braking
- F05B2260/904—Braking using hydrodynamic forces
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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
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention discloses an intelligent quick braking system of a wind turbine, which consists of a rotor cover, a stator fixing connection cover, a rotating shaft sealing ring, variable damping liquid, a spring, a telescopic insertion piece, an electromagnet, a coil, an auxiliary plate, an auxiliary frame, a switch, a power supply and an electric box. When the telescopic inserting piece works, the telescopic inserting piece is pushed out by the auxiliary plate and moves in the variable damping liquid, and the variable damping liquid is subjected to the action of a magnetic field to increase the rigidity, so that the damping force of the rotor is increased, and the braking effect is achieved. The control system can realize stepless driving of the variable damping liquid and realize quick and accurate braking of the braking device; the parameter value method of MPC and the application of OPC technology ensure the fast convergence of algorithm and the data processing precision. The intelligent control process comprises the following steps: measuring a real-time signal by a sensor, generating an offset and transmitting the offset to a PLC (programmable logic controller); the result output of the MPC algorithm is realized in the PLC, a voltage signal acts on the coil, a changing magnetic field is generated to act on the magnetorheological fluid, and the braking deceleration and braking are realized.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a braking and decelerating device for increasing rotational damping through magnetorheological damping fluid to achieve a braking effect, and an intelligent rapid braking system of a wind turbine for realizing rapid and accurate braking of the device based on an offset control model prediction control algorithm.
Background
The energy problem is a major development and survival problem facing the world, and how to efficiently utilize cleanable energy, especially high-quality utilization of wind energy, is a major problem to be solved urgently today when the problems of increasingly consumed traditional energy and increasingly outstanding environmental protection are solved. Traditionally, wind turbine technology and parts in China are mainly introduced by foreign technologies, the autonomy degree is very low, the development of wind power industry in China is extremely unfavorable, and with the development of economy and science and technology, the autonomy rate problem and the product quality problem of the wind turbine technology in China must be solved.
The purpose of wind turbine braking is to limit the impeller and the wind speed, in the braking system of the wind turbine, two main braking modes of pneumatic braking and mechanical braking are provided, the hydraulic device is mainly arranged in the blade, and a small blade arranged in the blade tip of the wind turbine blade is popped up or thrown out under the action of the hydraulic device when braking is needed, so that the braking effect is achieved, but the device is large in installation difficulty, high in maintenance cost and low in reliability. The latter mainly uses disc brake to make the brake block and brake disc act to generate brake torque, the main problem of this method is that the mechanical brake generates great heat when braking, which is the reason that most wind machines are easy to cause fire accident. Therefore, an efficient and simple braking device is found, the rapid and accurate braking effect is realized, and the method becomes one of the technical development problems of the wind turbine braking system.
Disclosure of Invention
The invention aims to solve the problems and provide an intelligent quick brake system of a wind turbine. The brake speed reducer for realizing braking can be arranged on the blade main shaft and the engine room, and compared with the traditional mode, the installation mode is simpler; the technology is easy to realize; the device has high safety and cannot cause fire accidents; meanwhile, the invention realizes a control system method for rapid and accurate braking based on a Model Predictive Control (MPC) algorithm of offset control.
The invention realizes the purpose through the following technical scheme:
the invention is composed of a rotor cover, a stator fixed connection cover, a rotary shaft sealing ring, variable damping liquid, a spring, a telescopic insertion piece, an electromagnet, a coil, an auxiliary plate, an auxiliary frame, a switch, a power supply, a fuse and an electric box, wherein a threaded hole is formed in the rotor cover which is fixedly connected with a main shaft of a wind turbine; when the rotor cover and the stator are fixedly connected with the cover, the rotating shaft sealing ring is used for sealing to prevent internal liquid from leaking, and variable damping liquid is filled in a coupling groove connected with the rotor cover and the stator cover. Because viscous force exists between the variable damping liquid and the cover wall, and because the baffle in the cover wall is arranged, the rigidity of the variable damping liquid can be increased, so that the fluidity of the variable damping liquid is reduced, the movement and deformation capacity of the variable damping liquid are greatly reduced, and the telescopic inserting piece can be subjected to larger damping force when moving in the liquid, thereby achieving the braking effect;
the stator fixedly connecting cover is annular and hollow, a threaded hole is formed in the cover body of the stator fixedly connecting cover and fixedly connected with a fixed object in a wind turbine engine room or an engine room through a bolt, rectangular holes are formed in two sides of the stator fixedly connecting cover to achieve stretching action of the telescopic sheet, the rectangular holes are in close contact with the telescopic sheet, and a rubber sealing ring is arranged in each hole to prevent liquid leakage.
The variable damping fluid is selected from magnetorheological fluid, and the rigidity of the magnetorheological fluid is increased under the action of a magnetic field. One section of the telescopic piece is provided with two holes which are respectively connected with the spring.
The auxiliary frame is composed of two iron rods, the two ends of each iron rod are fixedly connected to the stator fixedly connecting cover, the fixedly connecting mode can be welding, and a limiting hole is formed in the middle of each iron rod to limit two limiting positions of the auxiliary plate.
The auxiliary plate is composed of a shaft with a limiting plate, a plate body and an iron block embedded at the bottom of the plate body, two shaft shoulders are arranged on the shaft with the limiting plate, two ends of the shaft are inserted into limiting holes of the auxiliary frame, the two limiting positions of the auxiliary plate can be limited by the interaction of the limiting plate and the limiting holes on the shaft, and the shaft and the plate body are integrated and can be generated by direct casting.
The switch, the power supply and the fuse are connected through wires and are placed in the electric box, and the switch can be set as a relay switch and is controlled by a wind turbine main control system.
A control method for an intelligent quick brake system of a wind turbine comprises the following steps:
the method comprises the following steps: firstly, realizing second-order system modeling of a conventional wind turbine blade operation system, wherein system variables comprise three variables: waving displacement z of blade tip and wind wheel corner displacement
The current i in the coil driving the magnetorheological fluid, a conventional second order system equation, is described as:
wherein the state variable
M0、C0、K0A 3 x 3 mass matrix, a damping matrix and a stiffness matrix determined for conventional modeling respectively; b is0The aerodynamic force matrix is a 3 multiplied by 1 waving and shimmy direction;
step two: converting the second-order system into the first-order system and discretizing the first-order system
Equation (1) is changedThe method comprises the following steps:
wherein,
the system is further discretized into:
wherein eta isx、ηyIs the offset between the predicted variable and the actual physical quantity;
step three: MPC algorithm based on offset control:
writing equation (3) in incremental form:
wherein I is an identity matrix. Then further define a new state variable x (k) [. DELTA.x (k)T ym(k)T]TEquation (4) is rewritten as an offset signal:
wherein,
according to the system equation (5), the motion trajectory at the future k + j (j ═ 1, 2.. p) is predicted as follows:
wherein, pcPrediction level and control level coefficients, respectively. The prediction horizontal coefficient p is more than or equal to 10 and less than or equal to 15, good control effect can be obtained, and pc＝p-1；
In MPC of offset control, in order to fully utilize the advantages of LQR control to accelerate convergence, corresponding offset domain and control domain penalty weight matrixes are respectively defined as:
wherein the weighting value matrix of the LQR controllers is Q, R respectively. The corresponding control performance indicator may be described as:
Jmin＝△YTYw△Y+△uTuw△u (8)
meanwhile, in the control of the offset, the target value of the given output signal is as follows:
wherein r iseFor the performance parameter adjusted for the target, a default value r is typically takene＝0.1。
The invention has the beneficial effects that:
the invention relates to an intelligent quick brake system of a wind turbine, which has the following advantages compared with the prior art:
1) a novel brake speed reduction device based on variable damping fluid is designed, and the device is small in energy consumption, simple in structure and installation, low in cost and high in response speed. The damping force of the rotor rotation can be increased by popping up the telescopic pieces and changing the liquid rigidity, so that the rotating speed of a rotor shaft or other rotor structures fixedly connected with the rotor cover is changed, and the braking effect is achieved. The device can be fixedly connected with a main shaft and an engine room of a wind turbine, and a good braking effect is achieved.
2) An MPC algorithm based on offset control is adopted, and a control system method for fast and accurate braking is realized. The effectiveness and the accuracy of the variable damping fluid braking and speed reducing device are further improved, the safety of a wind turbine unit is improved, the utilization cost of the wind turbine and energy is further reduced, the application and the development of a wind energy technology are facilitated, and new contributions can be made to energy conservation, emission reduction and environmental protection.
Drawings
FIG. 1 is a stator securing cover;
FIG. 2 is a schematic view of a stator securing cover and a rectangular aperture;
FIG. 3 is a schematic view of the auxiliary frame and the auxiliary plate;
FIG. 4 is a schematic view of the auxiliary frame;
FIG. 5 is a schematic view of a retractable insert;
FIG. 6 is a schematic view of a rotor cover;
FIG. 7 shows the two extreme positions of the retractable sheet when the device is closed and opened;
FIG. 8 is a schematic view of the overall assembly;
FIG. 9 is a schematic view of a limiting hole;
FIG. 10 is a circuit diagram;
FIG. 11 is a schematic view of an electrical enclosure;
FIG. 12 is a diagram of the control system hardware configuration;
FIG. 13 is a schematic diagram of the operation of a frequency conversion demodulator;
FIG. 14 is a flow chart of MPC control.
In the figure: 1. the stator fixing cover comprises a stator fixing cover, 2 stator threaded holes, 3 coils, 4 telescopic pieces, 5 shaft connecting grooves, 6 springs, 7 auxiliary frames, 8 electromagnets, 9 auxiliary plates, 10 rectangular holes, 11 rotating shaft sealing rings, 12 limiting holes, 13 limiting plates, 14 rotor covers, 15 variable damping liquid, 16 shaft shoulders, 17 injection holes, 18 hole plugs, 19 baffle plates, 20 fuses, 21 switches, 22 power supplies, 23 electric boxes, 24 electric placement rack layers, 25 locks and 26 holes.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1: in order to solve the braking problem in the working process of a wind turbine, the first part of the patent of the invention provides a braking and speed reducing device for realizing braking by using a controllable telescopic insertion sheet and variable damping fluid, and the principle is as follows: after the switch of the device is closed, the variable damping liquid is acted by a magnetic field generated by the coil, so that the rigidity of the variable damping liquid is increased, the rotor moving in the liquid is acted by a large damping force, the controllable inserting piece is popped up on the rotor, the damping force borne by the rotor is increased in an auxiliary manner, and the braking and deceleration effects are achieved. The method can overcome the problems of the traditional wind turbine brake device during installation and work, and has the advantages of easy realization of the technology, lower installation and realization difficulty and novel mode.
The technical scheme of the speed reducer of the invention for solving the problems of the traditional braking system in the technical background is as follows: a braking and speed reducing device for a wind turbine. The device switch is closed, the power supply starts to supply power to the electromagnet coil in the loop, and after the coil is electrified, the electromagnet attracts the metal body at the tail part of the auxiliary plate, so that the tail part of the auxiliary plate rises, the front part of the auxiliary plate is pressed downwards, and the controllable telescopic insertion piece pops up under the action of the pressing of the auxiliary plate; the coil that gets electricity produces the magnetic field, receives the magnetic field effect when becoming damping liquid, then can greatly increase the rigidity of becoming damping liquid for the rotor that moves in this liquid receives very big damping force effect, and pop out controllable inserted sheet on the rotor, the supplementary damping force that increases the rotor and receive, the rotor links firmly through bolted connection with the wind turbine main shaft, thereby reaches the effect of braking speed reduction.
The invention mainly comprises a rotor cover, a stator fixing connection cover, a rotating shaft sealing ring, variable damping liquid, a spring, a telescopic inserting piece, an electromagnet, a coil, an auxiliary plate, an auxiliary frame, a switch, a power supply and an electric box.
As shown in figure 1, the stator fixing cover 1 is annular and hollow, and a stator threaded hole 2 is formed in the cover body and can be fixedly connected with a wind turbine engine room or a fixed object in the engine room through a bolt. Rectangular holes 10 are formed in two sides of the stator fixing cover for the telescopic action of the telescopic sheets 4, the holes are in close contact with the telescopic sheets, and rubber sealing rings or other sealing devices can be installed to prevent liquid leakage. The stator links firmly and sets up coil 3 in cover 1, is become by the electric wire winding, arranges around inside, is connected with the available bonding mode of the cover body, gets to supply the magnetic field for the variable damping liquid 15 in the rotor housing 14 after the electricity. One section on the expansion piece 4 is opened there are two apertures, and every aperture is coupling spring 6 respectively, and the other end of spring 6 is connected on the cover body, can be for welding or set up the couple etc. and link firmly the mode, the spring is when the device is out of work-when electro-magnet 8 and coil 3 are not ready to the electricity promptly, for tensile state, hold expansion piece 4 not overhanging, and should guarantee: the spring force is less than the magnetic force generated by the electromagnet 8. The electromagnet 8 is fixedly connected on the cover body, and the connection mode can be welding or setting a hook and the like.
The cover body appearance can be seen through the stator fixedly connecting cover and the schematic diagram of the rectangular hole shown in fig. 2, and in combination with fig. 1, a shaft connecting groove 5 is formed in the cover, the rectangular holes 10 are respectively formed in two sides of the cover body, and the included angle is 180 degrees, so that the telescopic sheet 4 can be ejected out.
As shown in fig. 3 and 4, the auxiliary plate 9 is approximately cross-shaped, the two ends are shafts, and are integrated with the middle plate body, and the shaft is provided with a shaft shoulder 16 for limiting the position of the plate body, and the two ends of the shaft are provided with a section of protruding limiting plate 13, so that the two limit positions of the shaft can be limited when the shaft rotates in the hole due to the shape of the limiting hole 12, and the two limit states of extension and retraction of the telescopic piece 4 are corresponded. The auxiliary plate 9 and the auxiliary frame 7 may be made of high-strength plastic in consideration of the weight of the apparatus. The bottom of the auxiliary plate 9 is provided with a metal block which can be embedded or glued with the plate body. Referring to fig. 1 and 10, when the switch 21 is closed, the power source 22 can supply power to the electromagnet 8 and the coil 3 to form a loop, and the fuse 20 plays a role in circuit protection. Switch 21 and power 22, fuse 20 place in electric box 23, and electric box 23 is the square box of cavity, and the below welding links firmly on the cover 1 at the stator, and one side can be opened, as shown in fig. 11, opens the back inside and has electric rack 24 two-layer, sets up lock 25 on the door after closing the door to porose 26 on the door can stretch out the wire etc..
As shown in FIG. 6, the rotor cover 14 is ring-shaped, and has a threaded hole at one end for connecting with the main shaft of the wind turbine. An injection hole 17 is formed in one side of the rotor cover 14 to facilitate injection of the variable damping fluid 15, and a hole plug 18 is provided, and the hole plug 18 and the injection hole 17 are connected in a threaded mode. Set up baffle 19 in the cover wall, distribute along the circumference of inner wall, the contained angle between every baffle is 90 degrees, and the baffle can adopt modes such as welding with the cover body to link firmly. After the rotor cover 14 is connected with the stator fixedly connecting cover 1, the rotor cover 14 is inserted into the coupling groove 5 of the stator fixedly connecting cover 1 and can rotate. And a rotary shaft seal 11 is provided to prevent liquid leakage. After the telescopic piece 4 extends out, the variable damping liquid 15 rotates, a magnetic field is formed around the cover body after the coil 3 is electrified, the rigidity of the variable damping liquid 15 is increased under the action of the magnetic field, the variable damping liquid 15 has the action of viscous force between the cover bodies, and the arrangement of the baffle plates in the cover wall can reduce the fluidity of the variable damping liquid and increase the damping force applied to the rotation of the rotor, so that the relative rotation of the rotor cover 14 and the stator fixedly connected cover 1 is limited, and the effects of braking and deceleration are achieved.
As shown in fig. 10, the switch 21, the power source 22, the fuse 20, the coil 3, and the electromagnet 8 are connected to each other by wires.
After the electromagnet 8 is electrified, the metal block at the tail part of the auxiliary plate 9 is attracted, so that the tail part of the auxiliary plate 9 rises, the front part of the auxiliary plate 9 is pressed downwards, the front part of the auxiliary plate 9 is arc-shaped and is tightly attached to the telescopic sheet 4, the front part pushes out the telescopic sheet 4 when the sheet body is pressed downwards, and the pushing force provided by the electromagnet 8 at the moment to the telescopic sheet 4 is set to be larger than the pulling force of tensioning the telescopic sheet 4 by the spring 6.
Fig. 12 is a schematic diagram of the hardware structure of the control system. The current sensor is fixed in the brake device and used for detecting the actual driving current in the coil; the piezoelectric acceleration sensor is fixed at the tip end of the hollow blade and used for measuring the waving vibration acceleration of the blade tip and converting the secondary integration into waving displacement; the rotation speed sensor is fixed in the engine room and used for measuring the rotation speed of the wind wheel.
Wherein the control unit includes: the PLC comprises a PLC CPU module, an A/D module for inputting three analog quantities, a D/A module for outputting an operation result in an analog quantity, and a variable frequency demodulator. The frequency conversion demodulator combines a conventional frequency converter and a partial frequency discrimination function, firstly converts a voltage signal (from an analog output D/A module) input into the frequency conversion demodulator into a frequency modulation signal through the conventional frequency conversion function, and then generates an amplitude modulation and frequency modulation wave voltage signal through the coupling action of the resonance coupler, wherein the amplitude modulation and frequency modulation wave voltage signal is used for generating a driving current in an electromagnet coil, so that the electromagnet core is further driven, and a magnetic field is generated to drive the magnetorheological fluid medium to work. The strength of the magnetic field influences the thrust provided by the electromagnet 8 on the telescopic sheet 4 on one hand and the rigidity of the variable damping fluid on the other hand, and the influence law of the variable damping fluid follows the control process of the MPC algorithm. In addition, the MATLAB environment in the PC machine is operated by an OPC technology and runs an MPC algorithm together with a CPU module of the PLC controller.
FIG. 14 is a flow chart of MPC control. The EM231 is an A/D module of Siemens s7-200 series PLC, three analog quantity signals are read into a CPU and used as process variables, and after the process variables are compared with target variable values, increment signals are obtained and further used for constructing offset signals (the signals are X signals in a formula (5)); the MPC algorithm runs in the MATLAB environment in the PC, and the OPC Server is also constructed in the PC based on Kepserver software and is the core of the OPC technology. The application of the OPC technology effectively overcomes the defects of insufficient memory, circulating scanning operation speed and processing precision of a PLC controller, and ensures the rapidity, stability and reliability of the braking process.
And the operation result of the MPC algorithm is interacted with the PLC CPU224 module in real time through the OPC Server. The current signal in the operation result of the MPC is output to the frequency conversion demodulator in the form of an analog quantity voltage signal through the EM232 (D/A module of the s7-200 series PLC), so as to form an amplitude modulation and frequency modulation wave voltage signal which acts on the coil to generate a magnetic field and further acts on the electromagnet 8 and the variable damping fluid 15.
Fig. 13 is a schematic diagram of the operation of the frequency conversion demodulator. The EM232 drives a conventional frequency converter circuit in the form of an analog voltage signal to form a frequency converted output voltage signal. By a dual capacitor-inductor element C1-L1、C2-L2Form a pair of resonance couplers, and output amplitude modulation and frequency modulation wave voltage signals after resonance coupling. D is a unidirectional diode, C3-R forms a high-pass filter, and outputs a low-frequency signal after the action of a diode and the filter, and the signal is transmittedFurther amplified by amplifier K to generate the final voltage signal with amplitude fluctuations of the driving coil. The voltage signal of the driving coil is controlled and adjusted by the control process of the MPC, thereby realizing continuous fluctuating stepless driving.
The innovation of the patent of the invention is that:
1) the brake speed reducing device realizes braking by using the controllable telescopic inserting sheet and the variable damping liquid, has higher safety compared with the traditional mode, and can not cause fire accidents. The idea is not yet applied to the application of the brake system of the large wind turbine.
2) The MPC algorithm based on the offset control can realize the quick and accurate braking of the braking device; the weight value in the MPC algorithm is combined with the parameters in the LQR control, and the fast convergence can be realized. Simultaneous target-adjusted performance parameter reCan be manually set, can realize the accurate braking of the device and avoid the impact (r)eThe smaller the braking is, the more accurate the braking is, but the braking time can be prolonged, so that the braking time is reasonably selected according to the actual environment condition of the fan). The MPC algorithm based on offset control is not yet applied to the brake system of the large wind turbine.
3) The variable frequency demodulator circuit based on resonance coupling can be matched with an MPC control algorithm, and can realize continuous stepless driving on magnetorheological fluid.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A control method of an intelligent quick brake system of a wind turbine comprises a rotor cover, a stator fixing connection cover, a rotary shaft sealing ring, variable damping liquid, a spring, a telescopic insertion piece, an electromagnet, a coil, an auxiliary plate, an auxiliary frame, a switch, a power supply, a fuse and an electric box, wherein a threaded hole is formed in the rotor cover, and the rotor cover is fixedly connected with a main shaft of the wind turbine; when the rotor cover and the stator are fixedly connected with the cover, a rotating shaft sealing ring is used for sealing to prevent internal liquid from leaking, and variable damping liquid is filled in a coupling groove connected with the rotor cover and the stator cover, and the control method of the intelligent quick braking system of the wind turbine is characterized by comprising the following steps of:
the method comprises the following steps: firstly, realizing second-order system modeling of a conventional wind turbine blade operation system, wherein system variables comprise three variables: waving displacement z of blade tip and wind wheel corner displacement
The current i in the coil driving the magnetorheological fluid, a conventional second order system equation, is described as:
wherein the state variable
M0、C0、K0A 3 x 3 mass matrix, a damping matrix and a stiffness matrix determined for conventional modeling respectively; b is0The aerodynamic force matrix is a 3 multiplied by 1 waving and shimmy direction;
step two: converting the second-order system into the first-order system and discretizing the first-order system
Equation (1) then translates to:
wherein,
the system is further discretized into:
wherein eta isx、ηyIs the offset between the predicted variable and the actual physical quantity;
step three: MPC algorithm based on offset control:
writing equation (3) in incremental form:
wherein I is an identity matrix; then further define a new state variable x (k) [. DELTA.x (k)T ym(k)T]TEquation (4) is rewritten as an offset signal:
wherein,
according to the system equation (5), the motion trajectory at the future k + j (j ═ 1, 2.. p) is predicted as follows:
wherein, pcPrediction level and control level coefficients, respectively; the prediction horizontal coefficient p is more than or equal to 10 and less than or equal to 15, good control effect can be obtained, and pc＝p-1；
In MPC of offset control, in order to fully utilize the advantages of LQR control to accelerate convergence, corresponding offset domain and control domain penalty weight matrixes are respectively defined as:
wherein the weighted value matrixes of the LQR controllers are Q, R respectively; the corresponding control performance indicator may be described as:
Jmin＝△YTYw△Y+△uTuw△u (8)
meanwhile, in the control of the offset, the target value of the given output signal is as follows:
wherein r iseFor the performance parameter adjusted for the target, a default value r is typically takene＝0.1。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811421234.8A CN109578205B (en) | 2018-11-27 | 2018-11-27 | Control method of intelligent rapid braking system of wind turbine |
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| CN201811421234.8A CN109578205B (en) | 2018-11-27 | 2018-11-27 | Control method of intelligent rapid braking system of wind turbine |
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| CN109578205B true CN109578205B (en) | 2021-03-12 |
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