CN111682815B - Wind power cabin yaw control method containing high-frequency interference reconstruction - Google Patents
Wind power cabin yaw control method containing high-frequency interference reconstruction Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P21/22—Current control, e.g. using a current control loop
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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
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- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
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Abstract
The invention discloses a yaw control method of a wind power cabin containing high-frequency interference reconstruction, which aims at the problem that yaw stability is seriously influenced by weak damping, electromagnetic torque pulsation, external wind interference and the like of yaw of a wind power magnetic suspension cabin on wind, provides a composite control strategy based on combination of state feedback tracking control, self-adaptive uncertain item compensation and sliding mode self-adaptive interference observation based on a shaft radial magnetic field decoupling method and a rotating speed and current double closed-loop cascade control mechanism, adopts reconstruction of sliding mode items on yaw fast-varying interference such as torque pulsation and the like, introduces self-adaptive interference approaching slow-varying interference, coordinates feedforward rotating speed tracking control, and improves the interference suppression capability of a yaw motor; the self-adaptive uncertainty compensation can optimize the ultra-low speed tracking control of the yaw motor and compensate the low-frequency pulsation of the yaw motor of the wind power cabin.
Description
Technical Field
The invention relates to a yaw control method of a wind power cabin containing high-frequency interference reconstruction, in particular to a yaw wind-up control method applied to a horizontal axis wind power generation system after a cabin is stably suspended, which is used for solving the problems of yaw wind-up under the working conditions of yaw weak damping, torque pulsation and external strong interference and belongs to the field of wind power generation control.
Background
The fan yaw device is a key component of a large and medium-sized horizontal axis wind power generation system, can realize frontal windward of fan blades and improve wind energy capture power, but the problems of large fan yaw power consumption, high failure rate, poor wind precision and the like are often caused by a heavier fan engine room and a multi-motor multi-gear yaw transmission mechanism, so that a wind power magnetic suspension yaw system is provided for the new energy research institute of the university of the mons veneris, and the yaw power consumption of the engine room is greatly reduced. In fact, a wind turbine cabin generally works on a tower with the height of 80 meters, once the cabin is suspended, a yaw system is in a weak damping state, electromagnetic torque pulsation, external wind interference and the like have great influence on yaw stability, an observer is adopted to observe and feed forward the external interference, the real-time performance of yaw rotating speed control can be effectively improved, however, buffeting exists in sliding mode control, the problem of buffeting is influenced, the running of the yaw at an ultra-low speed is influenced, a plurality of methods are developed for weakening the buffeting problem, particularly, the current observer mostly pays attention to slow-varying interference, interference derivatives are directly assumed to be zero, but actually, wind interference and torque pulsation interference have high-frequency fast-varying characteristics, and the yaw stability of the wind turbine cabin is severely limited.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wind power cabin yaw control method with high-frequency interference reconstruction, which is characterized by comprising the following steps: the method adopts a wind power engine room suspension magnetic field and yaw magnetic field axial radial decoupling method, and adopts cascade control combining a yaw rotating speed ring and a current tracking ring; the yaw rotating speed loop comprises a sliding mode self-adaptive interference observer, a self-adaptive uncertain item compensation and a state feedback controller, wherein the sliding mode self-adaptive interference observer is used for responding to external high-frequency wind interference and yaw torque pulsation high-frequency interference components, reconstructing the high-frequency interference components by adopting a sliding mode adjusting item, carrying out online interference estimation on an interference slow-varying part by using a self-adaptive item, and feeding forward an observed quantity to the rotating speed controller; the yaw torque ripple is the deeper tooth socket of the rotor caused by the suspended weight of the wind power engine room, the air gap ripple of the stator and the rotor caused by yaw rotation influences the air gap magnetic field energy, a periodic variation model of the suspended air gap of the engine room and a mechanism description formula of the air gap magnetic field energy are established, and the torque ripple component is calculated and obtained on the basis of partial differentiation of the rotation angle of the rotor on the air gap magnetic field energy; the self-adaptive uncertain compensation is self-adaptively obtained according to the yaw rotating speed tracking error calculated in real time, the yaw tracking error caused by the time change of yaw model parameters on the yaw rotating speed and the variable working condition is designed on the basis of a yaw rotating speed error integral augmentation equation, and the self-adaptive uncertain compensation method comprises the following steps of:
Firstly, fourier expansion is carried out on the delta reciprocal of an air gap between a stator and a rotor
Wherein p is the magnetic pole pair number delta of the disk type motor rotor min Is the minimum air gap of suspension, delta max Is the maximum suspended air gap, α m Is extremely wide b N And polar moment τ N In-line with the above and (4) the ratio.
Secondly, based on the d/q rotating coordinate system, the air gap magnetic field energy between the fixed rotation room of the wind power engine room is constructed as
Wherein the content of the first and second substances,
Thirdly, substituting the formula (1) into the formula (2) to obtain the air gap magnetic field energy, and simultaneously obtaining the partial derivative of the air gap magnetic field energy based on the rotation angle of the rotor
Wherein, T e0 For steady-state components of the electromagnetic torque of the yaw motor, T Δif Electromagnetic torque component, T, generated for the levitation current cog For electromagnetic torque pulsation，
The average value of the current on two sides of the engine room is as follows:
Firstly, introducing a yaw position angle variable to expand a yaw dynamic model of the wind power engine room into
Wherein J is moment of inertia, ω is angular velocity, T e0 Is a reference value of electromagnetic torque, T Δif Electromagnetic torque component, T, generated for the levitation current cog To pulsating torque, T y The yaw load torque is defined as B, and the damping coefficient is defined as B.
Second, respectively using theta e And ω is a state variable x m1 And x m2 And are combined with
For virtual control input, the state space equation of the yaw motor rotating speed ring is as follows:
wherein the content of the first and second substances,
T l ＝T if0 +T cog -T y -Bω。
First, defining a virtual variable according to equation (6)
For adaptive compensation of creep disturbance torque, the virtual control input is set to &>
The rotation speed error augmentation model is:
secondly, designing a controller by adopting a state feedback method, wherein the virtual control input and the torque current control input are respectively
u m1 ＝-KE＝[k 1 k 2 ]·[∫(ω ref -ω)dt,ω ref -ω] T (8)
Thirdly, adopting a Lyapunov function to obtain the self-adaptive rate,
is f dc The offset estimate value>
For self-adaptive error compensation, a yaw motor rotating speed closed loop Lyapunov function is constructed as follows:
wherein eta is a normal number; the matrixes P and Q are symmetrical positive definite matrixes and satisfy lambada T P + Plambda = -Q, lambda is an expected system matrix, and set is not
It can be seen that the interference-compensated tracking controller at this adaptive rate progressively stabilizes under Lyapunov stabilization conditions.
wherein the content of the first and second substances,
v＝-ρ 3 sgn(e y )(ρ 3 ≥0)，A m0 ＝A m -G l c, presence of G l ＝[k 1 k 2 ]So that
There is a symmetric positive definite matrix P m And full Q m Foot A m0 T P m +P m A m0 ＝-Q m ，A m0 A desired system matrix is derived based on state feedback control.
The invention has the beneficial effects that:
1) Analyzing the torque ripple mechanism angle of a yaw motor of a fan cabin, deducing to obtain a yaw torque ripple component, and reasonably dividing the torque ripple according to high-frequency fast-changing interference and low-frequency slow-changing interference to lay a foundation for controlling the yaw rotating speed of the fan;
2) A state feedback rotating speed controller of a self-adaptive uncertain item is adopted, parameter time variation and uncertain slow variation interference in ultra-low speed tracking control of a yaw motor are mainly dealt with, and stability and reliability of yaw to wind rotating speed are improved;
3) According to the sliding mode self-adaptive disturbance observer, a sliding mode adjusting item in the observer is adopted to reconstruct a load torque and a torque pulsation high-frequency component generated by external high-frequency wind, a disturbance slow-varying part is estimated on line by a self-adaptive part in the observer, the observed quantity is fed forward to a rotating speed controller, and the wind power yaw stability is greatly improved.
Drawings
FIG. 1 is a structural diagram of a stator and rotor magnetic slot of a yaw motor.
FIG. 2 is a schematic view of the yaw rate control of the present invention.
FIG. 3 is a tracking diagram of variable speed under constant excitation according to the present invention.
FIG. 4 is a comparative tracking plot of state feedback controller at constant excitation variable speed for the present invention.
Fig. 5 is a graph of constant rotational speed with weakened excitation according to the invention.
FIG. 6 is a graph of constant speed with field weakening for a state feedback controller in comparison to the present invention.
In the figure: the method comprises the following steps of 1-stator, 2-rotor, 3-adaptive uncertainty compensation and state feedback controller, 4-sliding mode adaptive disturbance torque observer, 5-torque current tracking controller, 6-excitation current tracking controller, 7-conversion of a two-phase rotating coordinate system (d/q axis coordinate system) into a three-phase static coordinate system (abc axis coordinate system), 8-conversion of the three-phase static coordinate system (abc axis coordinate system) into a two-phase rotating coordinate system (d/q axis coordinate system), 9-PWM driving circuit, 10-direct current bus and 11-wind power magnetic suspension yaw motor.
Detailed Description
A wind power cabin yaw control method containing high-frequency interference reconstruction is characterized by comprising the following steps: the method adopts the radial decoupling method of the wind power engine room suspension magnetic field and the yaw magnetic field axis, and cascade control of the combination of yaw rotating speed rings (3, 4) and current tracking rings (5, 6); the yaw rotating speed ring comprises a sliding mode self-adaptive interference observer 4 and a self-adaptive uncertain item compensation and state feedback controller 3, wherein the sliding mode self-adaptive interference observer 4 is used for responding to external high-frequency wind interference and yaw torque ripple high-frequency interference components, reconstructing the high-frequency interference components by adopting a sliding mode adjusting item, carrying out online interference estimation on an interference slow-varying part by using a self-adaptive item, and feeding forward an observed quantity to the rotating speed controller; the yawing torque pulsation is that the tooth space of a rotor 2 is deep due to the suspension weight of a wind power engine room, the air gap pulsation of a stator and a rotor is caused by yawing rotation to influence the air gap magnetic field energy, a periodic variation model of the suspension air gap of the engine room and a mechanism description formula of the air gap magnetic field energy are established, and the torque pulsation component is calculated and obtained on the basis of the partial differentiation of the rotation angle of the rotor on the air gap magnetic field energy; the self-adaptive uncertain compensation 3 is self-adaptively obtained and compensated according to the yaw rotating speed tracking error calculated in real time, the yaw tracking error caused by the time-varying yaw model parameter influence on the yaw rotating speed and the variable working condition, the state feedback controller 3 is designed based on a yaw rotating speed error integral augmentation equation, and the invention is further explained in detail by combining the attached drawings and examples. 2 simulation examples are respectively carried out to illustrate the effective effect of the invention. The simulation experiment platform parameters are shown in table 1.
TABLE 1 simulation verification platform parameters
Simulation example-variable speed tracking test at constant excitation, initial reference was 5rpm,40s speed reference was changed to 10rpm, and 70s speed reference was changed to 5rpm. The simulation results are shown in fig. 3 and 4, and the performance comparison is shown in table 2, and the results show that the control effect of the invention is better than that of a state feedback controller (5.3s, 5.5s,1.0 rpm) in the aspects of starting time, dynamic response speed and steady-state error.
TABLE 2 COMPARATIVE TABLE FOR TRACKING PERFORMANCE OF VARIABLE ROTATION-SPEED
In a yaw rotating speed stability control test under the weakening of secondary excitation of a simulation example, a flux linkage coefficient is weakened to 0.008V.s from 0.175V.s (a rated flux linkage coefficient) by 40s-46 s. Simulation results are shown in fig. 5 and 6, and the results of controller performance comparison table 3 show that the control effect of the invention is superior to that of a state feedback controller (4.5 s,0.2rpm,3.1rpm and 4.8s) in the aspects of starting time, overshoot, rotational speed fluctuation, flux weakening recovery time and the like.
TABLE 3 Weak magnetism driftage speed stable control contrast table
Claims (1)
1. A wind power cabin yaw control method containing high-frequency interference reconstruction is characterized by comprising the following steps: the method adopts a wind power engine room suspension magnetic field and yaw magnetic field axial radial decoupling method, and adopts cascade control combining a yaw rotating speed ring and a current tracking ring; the yaw rotating speed ring comprises a sliding mode self-adaptive interference observer, a self-adaptive uncertain item compensation and a state feedback controller, wherein the sliding mode self-adaptive interference observer is used for responding to external high-frequency wind interference and yaw torque ripple high-frequency interference components, reconstructing the high-frequency interference components by adopting a sliding mode adjusting item, carrying out online interference estimation on an interference slow-varying part by using a self-adaptive item, and feeding forward an observed quantity to the rotating speed controller; the yaw torque ripple is the deeper tooth socket of the rotor caused by the suspended weight of the wind power engine room, the air gap ripple of the stator and the rotor caused by yaw rotation influences the air gap magnetic field energy, a periodic variation model of the suspended air gap of the engine room and a mechanism description formula of the air gap magnetic field energy are established, and the torque ripple component is calculated and obtained on the basis of partial differentiation of the rotation angle of the rotor on the air gap magnetic field energy; the self-adaptive uncertain compensation is self-adaptively obtained according to the yaw rotating speed tracking error calculated in real time, the yaw tracking error caused by the time change of yaw model parameters on the yaw rotating speed and the variable working condition is designed on the basis of a yaw rotating speed error integral augmentation equation, and the self-adaptive uncertain compensation method comprises the following steps of:
step 1, analyzing and calculating yaw torque ripple mechanism
Firstly, fourier expansion is carried out on the delta reciprocal of an air gap between a stator and a rotor
Wherein p is the magnetic pole pair number delta of the disk type motor rotor min Is the minimum suspended air gap, delta max Is the maximum suspended air gap, α m Is extremely wide b N And polar moment τ N A ratio of;
secondly, based on the d/q rotating coordinate system, the air gap magnetic field energy between the fixed rotating room and the rotating room of the wind power engine room is constructed as
Wherein the content of the first and second substances,
thirdly, substituting the formula (1) into the formula (2) to obtain the air gap magnetic field energy, and simultaneously obtaining the partial derivative of the air gap magnetic field energy based on the rotation angle of the rotor
Wherein, T e0 For steady-state components of the electromagnetic torque of the yaw motor, T Δif Electromagnetic torque component, T, generated for the levitation current cog In order to provide the electromagnetic torque ripple,
the average value of the current on two sides of the engine room is as follows:
step 2, constructing a yaw motor control model of the wind power cabin
Firstly, introducing a yaw position angle variable, and expanding a yaw dynamic model of the wind power cabin into
Wherein J is moment of inertia, ω is angular velocity, T e0 Is a reference value of electromagnetic torque, T Δif Electromagnetic torque component, T, generated for the levitation current cog To pulsating torque, T y The yaw load torque is, and B is a damping coefficient;
second, respectively using theta e And ω is a state variable x m1 And x m2 And are combined with
For virtual control input, the state space equation of the yaw motor rotating speed ring is as follows:
wherein the content of the first and second substances,
T l ＝T if0 +T cog -T y -Bω；
step 3, the deviation operation interference amount T in the formula (6) is compared y 、T Δif 、T cog Performance analysis
1)
Wherein Cs is the wind energy utilization coefficient, rho 0 Is the air density, V effective wind speed, alpha is the yaw angle, A s Blade side area, R n In the yaw moment arm>
For yaw load torque rate of change>
ρ 3 For yaw loading torqueThe maximum value of variation is fast-varying interference;
2)
the yaw ultralow speed (omega is less than or equal to 10 rpm) is slowly changed interference due to the change of the rotation angle of the rotor;
3)
is a pulsating torque, the value of which increases with k higher order harmonics, there being fast-varying and slow-varying disturbance torque pulsations;
step 4, designing a state feedback rotating speed controller with self-adaptive uncertain item compensation
In a first step, a virtual variable E = [ ([ ω &) is defined according to equation (6) ref -ω)dt,ω ref -ω] T ，
For adaptive compensation of slow dry disturbance torque, the virtual control input is set to ≧>
The rotation speed error augmentation model is:
secondly, designing a controller by adopting a state feedback method, wherein the virtual control input and the torque current control input are respectively
u m1 ＝-KE＝[k 1 k 2 ]·[∫(ω ref -ω)dt,ω ref -ω] T (8)
Thirdly, a Lyapunov function is adopted to obtain the self-adaptive rate,
is f dc The offset estimate value>
For self-adaptive error compensation, a yaw motor rotating speed closed loop Lyapunov function is constructed as follows:
wherein eta is a normal number, and the matrices P and Q are symmetric positive definite matrices satisfying Lambda T P + P Λ = -Q, Λ is a desired system matrix, and an uncertain self-adaptation law is set to be
Derived from the formula (10)
Therefore, the tracking controller of the interference compensation under the self-adaptive rate is gradually stable under the Lyapunov stable condition;
step 5, designing a yaw motor sliding mode self-adaptive disturbance torque observer, and introducing a sliding mode adjustment item G n v pair yaw load torque T y And T cog Reconstruction of the inner high-frequency part (G) n V is the sliding mode adjustment amount) for adjusting the matrix, and for T cog The internal slowly-varying interference is formed by
Adaptive on-line estimation, introducing G l e y The fast convergence of the sliding mode observer is accelerated, and the sliding mode self-adaptive load torque observer of the yaw motor is expressed as follows:
wherein the content of the first and second substances,
v＝-ρ 3 sgn(e y )(ρ 3 ≥0)，A m0 ＝A m -G l c, presence of G l ＝[k 1 k 2 ]So that
There is a symmetric positive definite matrix P m And full Q m Foot A m0 T P m +P m A m0 ＝-Q m ，A m0 Is a desired system matrix derived based on state feedback control. />
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| CN112392657B (en) * | 2020-11-17 | 2021-11-23 | 中国船舶重工集团海装风电股份有限公司 | Pre-excitation control method for yaw motor of wind generating set |
| CN114893349B (en) * | 2022-07-14 | 2022-09-30 | 深圳众城卓越科技有限公司 | Over-current and overload prevention control method and device for motor of yaw system |
| CN116520694B (en) * | 2023-04-14 | 2024-01-09 | 曲阜师范大学 | Fuzzy sliding mode self-adaptive wind turbine cabin suspension control method containing PPC synchronous pitching state constraint |
| CN116360274B (en) * | 2023-05-12 | 2024-01-02 | 曲阜师范大学 | Obstacle Lyapunov function-based full-state constraint wind turbine cabin suspension control method |
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