CN110032238A - A kind of wind turbine power generation yaw control system maximum power tracing method - Google Patents
A kind of wind turbine power generation yaw control system maximum power tracing method Download PDFInfo
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Abstract
The present invention relates to a kind of wind turbine power generation yaw control system maximum power tracing methods, the following steps are included: step S1: building wind turbine power generation yaw control system 100, the wind turbine power generation yaw control system includes wind turbine power generation unit 10 and maximum power tracing synovial membrane output feedback controller 20；Step S2: according to physics principle, the mathematical model with the fan yaw nonlinear system of maximum power tracing is established, and is expressed as unusual II fuzzy systems model；Step S3: being based on the mathematical model, designs finite time synovial membrane output feedback controller；Step S4: the time that closed-loop control system reaches synovial membrane face is found outT *；Step S5: it finds out closed-loop control system and existsT *The maximum power generation reference angular velocities error amount at moment.Maximum power tracing may be implemented in this method, improves power generation efficiency, has a vast market application prospect.
Description
Technical field
The present invention relates to wind turbine power generation technical fields, and in particular to a kind of wind turbine power generation based on unusual II pattern fuzzy model
Yaw control system maximum power tracing method.
Background technique
With the aggravation of environmental pollution, people start to increase the construction of grid-connected power generation system.The typical generation of clean energy resource
Table blower fan power generation system cost of investment is high, therefore guarantees that its maximum power generation seems extremely important.Traditional wind turbine power generation is most
High-power Tracing Control not can guarantee quick tracking effect and most of proposed control theories lack it is stringent it is qualitative with
Quantitative analysis.
Summary of the invention
It is an object of the invention to propose a kind of wind turbine power generation yaw control system maximum power tracing method, this method can
To realize maximum power tracing, power generation efficiency is improved.
The present invention is realized using following scheme: a kind of wind turbine power generation yaw control system maximum power tracing method, including
Following steps:
Step S1: building wind turbine power generation yaw control system 100, and the wind turbine power generation yaw control system includes blower hair
Motor group 10 and maximum power tracing synovial membrane output feedback controller 20；
Step S2: according to physics principle, the mathematics with the fan yaw nonlinear system of maximum power tracing is established
Model, and it is expressed as unusual II fuzzy systems model；
Step S3: being based on the mathematical model, designs finite time synovial membrane output feedback controller；
Step S4: the time T that closed-loop control system reaches synovial membrane face is found out*；
Step S5: closed-loop control system is found out in T*The maximum power generation reference angular velocities error amount at moment.
Further, in step S2, the mathematical model with the fan yaw nonlinear system of maximum power tracing is established
And it is expressed as unusual II fuzzy systems model, include the following steps:
Step S21: consider that fan rotor dynamic model is as follows:
In formula, PaIndicate pneumatic power, parameter ρ, R, Cp, β and v respectively indicate atmospheric density, rotor radius, power coefficient,
Blade angle and wind speed；Tip speed ratio lambda definition is as follows:
In formula, parameter ωtIndicate spinner velocity；
Torque TaKinetics equation it is as follows:
The inertia J of rotor-siderDynamical equation is as follows:
In formula, BrIt is the damping of rotor, low speed rotor torque TlsIt is defined as:
Tls=Kls(θt-θls)+Kls(ωt-ωls) (5)
In formula, KlsIndicate the rigidity of low speed side shaft, θtIndicate rotor-side angular displacement, θlsIndicate gear-box side angular displacement,
ωtIndicate rotor-side angular speed, ωlsIndicate gear-box side angular speed, then having:
In formula, parameter JgAnd TemIt is the inertia and electromagnetic torque of generator, T respectivelyhsIndicate the rotor torque of high-speed side, Bg
Indicate generator external damping, ωgIndicate generator angular speed；
Further define reduction ratio ng, it obtains:
According to the expression of space vector, stator voltage can be expressed as under the reference frame of rotation d-q axis:
In formula, udAnd uqIt is the stator voltage of d axis and q axis, φdAnd φqIt is the stator current of d axis and q axis, RsStator around
Group impedance, M is series, ωgIt is the angular rate of stator, ΨqAnd ΨdIt is the magnetic flux of d axis and q axis, expression are as follows:
In formula, LdAnd LqIt is the inductance of d axis and q axis, ΨmIt is magnetic linkage；
With formula (1)-(9), obtain:
In formula,
Step S22: power coefficient curve Cp(λ, β) has maximum value, meets following situation:
In formula,
DefinitionAnd as formula (10)-(13) obtain:
Step S23: x (t)=[e ω is definedgφd φq Tem]T, and consider there is disturbance ω on state variable e
(t)；SelectionWithAs fuzzy former piece variable；Therefore, have
The mathematical model of the fan yaw nonlinear system of maximum power tracing is expressed as unusual II fuzzy systems model below:
Y (t)=Cx (t) (15)
In formula,It is neutral II type
Fuzzy set, the quantity of r fuzzy rule, AlAnd BlIt is to former piece variable z1-z4Sytem matrix parameter after linearisation, is expressed as follows:
Further, in step S3, the finite time synovial membrane output feedback controller has following form:
U (t)=ub(t)+uc(t) (17)
In formula,KlIt is mould
Fuzzy controllers gain,{ l, p } represents fuzzy set, symbol T
It is previously given limited time period, αmin(*) represents the smallest order of matrix *, and ‖ * ‖ represents the norm of matrix *；
Sgn (*) is sign function, is specifically defined as follows:
In formula, s (t) is integral synovial membrane surface function, is defined as follows:
In formula, G is that a given matrix makes GBlIt is the matrix of positive definite.
Further, in step S4, the closed-loop control system reaches synovial membrane face time T*, it is found out by following steps:
Step S41: consider to be obtained after minor function derivation:
It is defined as follows equation:
It obtains:
With formula, obtain:
Step S42: as formula (20)-(23) obtain:
According to formula (23) and (24), obtain:
With formulaClosed-loop control system reaches synovial membrane face time T*It obtains as follows:
T*≤T (26)。
Further, in step S5, the closed-loop control system is in T*The maximum power generation reference angular velocities at moment are missed
Difference is found out by following steps:
Step S51: controller (17) are substituted into (15), obtain following closed-loop control system:
In formula,
Step S52: consider following liapunov function:
Wherein ETP=PTE≥0；
Along the track of system (27), obtain:
In formula,
The function J (t) of an auxiliary is introduced, as follows:
Wherein, η is positive scalar；
With formula (29) and (30), obtain:
In formula,
Inequality inaugural meeting below makes J (t) < 0 of formula (31):
Φll<0,1≤l≤r (33)
Φlp+Φpl<0,1≤l<p≤r (34)
Due to J (t) < 0, obtain:
Multiply e on inequality (35) premultiplication right side-ηt, and 0 to t carries out integral t ∈ [0, T*], then being readily available:
In addition, being obtained by formula (28):
In formula,
Step S53: matrix P is divided as follows:
In formula,And P3It is a scalar, obtains
To ETP=PTE≥0；
Further cutting state variable space x (t) is as follows:
In formula,
With formula (38) and (40), have:
Introduce matrixAnd it further defines:
It is obtained based on formula (38)-(42):
Step S54: since the angular speed of tracking error is defined as follows:In order to enable ε is limited
Convergence in time, by matrix P1It is defined as follows:
In formula, P1(1)It is a scalar, matrixAnd P1(1)》‖
P1(2)‖ is obtained with formula (42)-(44):
Compared with prior art, the invention has the following advantages: provided by the invention paste mould based on unusual II pattern
The wind turbine power generation yaw control system maximum power tracing method of type not only can guarantee wind turbine power generation yaw control system quickly with
Track reference angular velocities, realize maximum power power generation, and can provide maximum power power generation reference angular velocities error it is qualitative with
Quantitative analysis results.
Detailed description of the invention
Fig. 1 is the method implementation flow chart of the embodiment of the present invention.
Fig. 2 is the schematic diagram of wind turbine power generation yaw control system in the embodiment of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As shown in Figure 1, present embodiments providing a kind of wind turbine power generation yaw control system based on unusual II pattern fuzzy model
System maximum power tracing method, comprising the following steps:
Step S1: wind turbine power generation yaw control system 100 as shown in Figure 2, the wind turbine power generation yaw control system are built
System includes wind turbine power generation unit 10 and maximum power tracing synovial membrane output feedback controller 20；
Step S2: according to physics principle, the mathematics with the fan yaw nonlinear system of maximum power tracing is established
Model, and it is expressed as unusual II fuzzy systems model；
Step S3: being based on the mathematical model, designs finite time synovial membrane output feedback controller；
Step S4: the time T that closed-loop control system reaches synovial membrane face is found out*；
Step S5: closed-loop control system is found out in T*The maximum power generation reference angular velocities error amount at moment.
In the present embodiment, in step S2, the mathematics with the fan yaw nonlinear system of maximum power tracing is established
Model is simultaneously expressed as unusual II fuzzy systems model, includes the following steps:
Step S21: consider that fan rotor dynamic model is as follows:
In formula, PaIndicate pneumatic power, parameter ρ, R, Cp, β and v respectively indicate atmospheric density, rotor radius, power coefficient,
Blade angle and wind speed；Tip speed ratio lambda definition is as follows:
In formula, parameter ωtIndicate spinner velocity；
Torque TaKinetics equation it is as follows:
The inertia J of rotor-siderDynamical equation is as follows:
In formula, BrIt is the damping of rotor, low speed rotor torque TlsIt is defined as:
Tls=Kls(θt-θls)+Kls(ωt-ωls) (5)
In formula, KlsIndicate the rigidity of low speed side shaft, θtIndicate rotor-side angular displacement, θlsIndicate gear-box side angular displacement,
ωtIndicate rotor-side angular speed, ωlsIndicate gear-box side angular speed, then having:
In formula, parameter JgAnd TemIt is the inertia and electromagnetic torque of generator, T respectivelyhsIndicate the rotor torque of high-speed side, Bg
Indicate generator external damping, ωgIndicate generator angular speed；
Further define reduction ratio ng, it obtains:
According to the expression of space vector, stator voltage can be expressed as under the reference frame of rotation d-q axis:
In formula, udAnd uqIt is the stator voltage of d axis and q axis, φdAnd φqIt is the stator current of d axis and q axis, RsStator around
Group impedance, M is series, ωgIt is the angular rate of stator, ΨqAnd ΨdIt is the magnetic flux of d axis and q axis, expression are as follows:
In formula, LdAnd LqIt is the inductance of d axis and q axis, ΨmIt is magnetic linkage；
With formula (1)-(9), obtain:
In formula,
Step S22: power coefficient curve Cp(λ, β) has maximum value, meets following situation:
In formula,
DefinitionAnd as formula (10)-(13) obtain:
Step S23: x (t)=[e ω is definedgφd φq Tem]T, and consider there is disturbance ω on state variable e
(t)；SelectionWithAs fuzzy former piece variable；Therefore, have
The mathematical model of the fan yaw nonlinear system of maximum power tracing is expressed as unusual II fuzzy systems model below:
Y (t)=Cx (t) (15)
In formula,:=indicate defines for the first time,It is the fuzzy set of neutral II type, the quantity of r fuzzy rule, AlAnd BlIt is to former piece variable z1-z4Linearisation
Sytem matrix parameter afterwards is expressed as follows:
In the present embodiment, in step S3, the finite time synovial membrane output feedback controller has following form:
U (t)=ub(t)+uc(t) (17)
In formula,KlIt is mould
Fuzzy controllers gain,{ l, p } represents fuzzy set, and symbol T is
Previously given limited time period, αmin(*) represents the smallest order of matrix *, and ‖ * ‖ represents the norm of matrix *；
Sgn (*) is sign function, is specifically defined as follows:
In formula, s (t) is integral synovial membrane surface function, is defined as follows:
In formula, G is that a given matrix makes GBlIt is the matrix of positive definite.
In the present embodiment, in step S4, the closed-loop control system reaches synovial membrane face time T*, asked by following steps
Out:
Step S41: consider to be obtained after minor function derivation:
It is defined as follows equation:
It obtains:
With formula, obtain:
Step S42: as formula (20)-(23) obtain:
According to formula (23) and (24), obtain:
With formulaClosed-loop control system reaches synovial membrane face time T*It obtains as follows:
T*≤T (26)。
In the present embodiment, in step S5, the closed-loop control system is in T*The maximum power generation reference angle speed at moment
Error amount is spent, is found out by following steps:
Step S51: controller (17) are substituted into (15), obtain following closed-loop control system:
In formula,
Step S52: consider following liapunov function:
Wherein ETP=PTE≥0；
Along the track of system (27), obtain:
In formula,
The function J (t) of an auxiliary is introduced, as follows:
Wherein, η is positive scalar；
With formula (29) and (30), obtain:
In formula,
Inequality inaugural meeting below makes J (t) < 0 of formula (31):
Φll<0,1≤l≤r (33)
Φlp+Φpl<0,1≤l<p≤r (34)
Due to J (t) < 0, obtain:
Multiply e on inequality (35) premultiplication right side-ηt, and 0 to t carries out integral t ∈ [0, T*], then being readily available:
In addition, being obtained by formula (28):
In formula,
Step S53: matrix P is divided as follows:
In formula,And P3It is a scalar, obtains
To ETP=PTE≥0；
Further cutting state variable space x (t) is as follows:
In formula,
With formula (38) and (40), have:
Introduce matrixAnd it further defines:
It is obtained based on formula (38)-(42):
Step S54: since the angular speed of tracking error is defined as follows:In order to enable ε is limited
Convergence in time, by matrix P1It is defined as follows:
In formula, P1(1)It is a scalar, matrixAnd P1(1)> > ‖
P1(2)‖ is obtained with formula (42)-(44):
The present invention both can guarantee the quick track reference angular speed of fan yaw power-generating control system, realize maximum power hair
Electricity, and the quantitative analysis results of the reference voltage error of maximum power power generation can be provided.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification, is all covered by the present invention.
Claims (5)
1. a kind of wind turbine power generation yaw control system maximum power tracing method, which comprises the following steps:
Step S1: building wind turbine power generation yaw control system 100, and the wind turbine power generation yaw control system includes wind turbine power generation machine
Group 10 and maximum power tracing synovial membrane output feedback controller 20；
Step S2: according to physics principle, establishing the mathematical model with the fan yaw nonlinear system of maximum power tracing,
And it is expressed as unusual II fuzzy systems model；
Step S3: being based on the mathematical model, designs finite time synovial membrane output feedback controller；
Step S4: the time T that closed-loop control system reaches synovial membrane face is found out*；
Step S5: closed-loop control system is found out in T*The maximum power generation reference angular velocities error amount at moment.
2. a kind of wind turbine power generation yaw control system maximum power tracing method according to claim 1, which is characterized in that
In step S2, establishes the mathematical model of the fan yaw nonlinear system with maximum power tracing and be expressed as unusual II pattern
System model is pasted, is included the following steps:
Step S21: consider that fan rotor dynamic model is as follows:
In formula, PaIndicate pneumatic power, parameter ρ, R, Cp, β and v respectively indicate atmospheric density, rotor radius, power coefficient, blade
Angle and wind speed；Tip speed ratio lambda definition is as follows:
In formula, parameter ωtIndicate spinner velocity；
Torque TaKinetics equation it is as follows:
The inertia J of rotor-siderDynamical equation is as follows:
In formula, BrIt is the damping of rotor, low speed rotor torque TlsIt is defined as:
Tls=Kls(θt-θls)+Kls(ωt-ωls) (5)
In formula, KlsIndicate the rigidity of low speed side shaft, θtIndicate rotor-side angular displacement, θlsIndicate gear-box side angular displacement, ωtTable
Show rotor-side angular speed, ωlsIndicate gear-box side angular speed, then having:
In formula, parameter JgAnd TemIt is the inertia and electromagnetic torque of generator, T respectivelyhsIndicate the rotor torque of high-speed side, BgIt indicates
Generator external damping, ωgIndicate generator angular speed；
Further define reduction ratio ng, it obtains:
According to the expression of space vector, stator voltage can be expressed as under the reference frame of rotation d-q axis:
In formula, udAnd uqIt is the stator voltage of d axis and q axis, φdAnd φqIt is the stator current of d axis and q axis, RsIt is stator winding resistance
Anti-, M is series, ωgIt is the angular rate of stator, ΨqAnd ΨdIt is the magnetic flux of d axis and q axis, expression are as follows:
In formula, LdAnd LqIt is the inductance of d axis and q axis, ΨmIt is magnetic linkage；
With formula (1)-(9), obtain:
In formula,
Step S22: power coefficient curve Cp(λ, β) has maximum value, meets following situation:
In formula,
DefinitionAnd as formula (10)-(13) obtain:
Step S23: x (t)=[e ω is definedg φd φq Tem]T, and consider there is disturbance ω (t) on state variable e；
SelectionWithAs fuzzy former piece variable；Therefore, there is maximum work
The mathematical model of the fan yaw nonlinear system of rate tracking, is expressed as unusual II fuzzy systems model below:
Y (t)=Cx (t) (15)
In formula,It is the fuzzy of neutral II type
Collection, the quantity of r fuzzy rule, AlAnd BlIt is to former piece variableSytem matrix parameter after linearisation, is expressed as follows:
3. a kind of wind turbine power generation yaw control system maximum power tracing method according to claim 1, which is characterized in that
In step S3, the finite time synovial membrane output feedback controller has following form:
U (t)=ub(t)+uc(t) (17)
In formula,KlIt is mould
Fuzzy controllers gain,{ l, p } represents fuzzy set, symbol T
It is previously given limited time period, αmin(*) represents the smallest order of matrix *, and ‖ * ‖ represents the norm of matrix *；
Sgn (*) is sign function, is specifically defined as follows:
In formula, s (t) is integral synovial membrane surface function, is defined as follows:
In formula, G is that a given matrix makes GBlIt is the matrix of positive definite.
4. a kind of wind turbine power generation yaw control system maximum power tracing method according to claim 1, which is characterized in that
In step S4, the closed-loop control system reaches synovial membrane face time T*, it is found out by following steps:
Step S41: consider to be obtained after minor function derivation:
It is defined as follows equation:
It obtains:
With formula, obtain:
Step S42: as formula (20)-(23) obtain:
According to formula (23) and (24), obtain:
With formulaClosed-loop control system reaches synovial membrane face time T*It obtains as follows:
T*≤T (26)。
5. a kind of wind turbine power generation yaw control system maximum power tracing method according to claim 1, which is characterized in that step
In rapid S5, the closed-loop control system is in T*The maximum power generation reference angular velocities error amount at moment, is found out by following steps:
Step S51: controller (17) are substituted into (15), obtain following closed-loop control system:
In formula,
Step S52: consider following liapunov function:
Wherein ETP=PTE≥0；
Along the track of system (27), obtain:
In formula,
The function J (t) of an auxiliary is introduced, as follows:
Wherein, η is positive scalar；
With formula (29) and (30), obtain:
In formula,
Inequality inaugural meeting below makes J (t) < 0 of formula (31):
Φll<0,1≤l≤r (33)
Φlp+Φpl<0,1≤l<p≤r (34)
Due to J (t) < 0, obtain:
Multiply e on inequality (35) premultiplication right side-ηt, and 0 to t carries out integral t ∈ [0, T*], then being readily available:
In addition, being obtained by formula (28):
In formula,
Step S53: matrix P is divided as follows:
In formula,And P3It is a scalar, obtains ETP
=PTE≥0；
Further cutting state variable space x (t) is as follows:
In formula,
With formula (38) and (40), have:
Introduce matrixAnd it further defines:
It is obtained based on formula (38)-(42):
Step S54: since the angular speed of tracking error is defined as follows:In order to enable ε is in the limited time
Interior convergence, by matrix P1It is defined as follows:
In formula, P1(1)It is a scalar, matrixAnd P1(1)> > ‖ P1(2)‖
As formula (42)-(44) obtain:
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| CN101963131A (en) * | 2010-09-26 | 2011-02-02 | 张舜德 | Yawing mechanism for wind driven generator, yawing control system and control method |
| CN107061164A (en) * | 2017-06-07 | 2017-08-18 | 哈尔滨工业大学 | One kind considers the uncertain blower variable-pitch of executing agency away from Sliding Mode Adaptive Control method |
| CN107061158A (en) * | 2017-06-27 | 2017-08-18 | 星际（重庆）智能装备技术研究院有限公司 | A kind of prediction of low wind speed leeward power generator and tracking and controlling method |
| CN108663936A (en) * | 2018-05-08 | 2018-10-16 | 中国人民解放军战略支援部队航天工程大学 | Model does not know spacecraft without unwinding Attitude Tracking finite-time control method |
| CN109189146A (en) * | 2018-10-23 | 2019-01-11 | 闽江学院 | A kind of photovoltaic system maximum power tracing method obscuring synovial membrane control based on finite time |
| CN109209770A (en) * | 2018-11-02 | 2019-01-15 | 河北工程大学 | Wind turbines Contrast tuned imaging system |
-
2019
- 2019-04-28 CN CN201910351486.6A patent/CN110032238B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101963131A (en) * | 2010-09-26 | 2011-02-02 | 张舜德 | Yawing mechanism for wind driven generator, yawing control system and control method |
| CN107061164A (en) * | 2017-06-07 | 2017-08-18 | 哈尔滨工业大学 | One kind considers the uncertain blower variable-pitch of executing agency away from Sliding Mode Adaptive Control method |
| CN107061158A (en) * | 2017-06-27 | 2017-08-18 | 星际（重庆）智能装备技术研究院有限公司 | A kind of prediction of low wind speed leeward power generator and tracking and controlling method |
| CN108663936A (en) * | 2018-05-08 | 2018-10-16 | 中国人民解放军战略支援部队航天工程大学 | Model does not know spacecraft without unwinding Attitude Tracking finite-time control method |
| CN109189146A (en) * | 2018-10-23 | 2019-01-11 | 闽江学院 | A kind of photovoltaic system maximum power tracing method obscuring synovial membrane control based on finite time |
| CN109209770A (en) * | 2018-11-02 | 2019-01-15 | 河北工程大学 | Wind turbines Contrast tuned imaging system |
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