CN113095001A - Terminal equality constraint economic model prediction maximum wave energy capture method - Google Patents
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Abstract
The invention provides a terminal equality constraint economic model prediction maximum wave energy capture method, which comprises the following steps: constructing a dynamic model of the direct-drive wave power generation system; based on the constructed dynamic model, an economic model prediction control method is adopted to realize the real-time prediction of the sea wave condition and achieve the maximum power tracking of the wave energy. The invention designs a maximum wave energy capturing device based on a backstepping sliding mode method and analyzes the working principle of a direct-drive wave energy power generation system. The wave energy capturing device and the structure and mathematical model of the permanent magnet linear generator are researched. According to the wave incident frequency and amplitude, the optimal power output condition of the system is constructed, the optimal reference current of the d-q axis is obtained by adopting a decoupling method with id being 0, and the optimal reference current is controlled and tracked through a sliding mode variable structure.
Description
Technical Field
The invention relates to the technical field of new energy application, in particular to a terminal equality constraint economic model prediction maximum wave energy capture method.
Background
The economic model predictive control based on the terminal equality constraint is used as a maximum wave energy capture control algorithm, and is not widely applied to the field of new energy at present. When the economic model prediction control is applied to a single-point absorption type wave power generation system, the constraint of the mechanical limit of an energy transmission system is considered, the current control action is predicted and rolled to be optimized in real time based on the wave condition so as to track the optimal speed of the floating body, the robustness is high, and the simulation result is closer to the actual control effect. However, the key technology of wave energy power generation is to improve the power capture and energy conversion efficiency of a wave power generation system, and in order to realize the maximum wave energy capture of wave energy, the motion frequency of the wave energy conversion system needs to be equal to the motion frequency of sea waves, that is, resonance is achieved to realize the maximum wave energy capture of wave energy. In consideration of the characteristics of the linear generator and a dynamic model of the wave energy conversion system, the optimal electromagnetic force reference value is captured through economic model prediction control and is controlled by a motor, and the motion frequency of the wave energy conversion system is changed, so that the whole system can achieve resonance.
Due to the unstable frequency amplitude of sea waves, the complex actual sea condition and the deficiency of the prior art, the development of the wave energy maximum wave energy capturing technology is not ideal, and the maximum wave energy capturing can not be realized effectively and in real time. The vertical wave speed cannot be tracked in real time and fed back to the linear generator on line, and the running state of the linear generator can be changed in real time.
Disclosure of Invention
According to the technical problem that the maximum power cannot be tracked in real time when sea waves are converted into frequency and amplitude values, the method for predicting the maximum wave energy by the economic model constrained by the terminal equation is provided. The method mainly adopts an economic model prediction control strategy, achieves the maximum power tracking of wave energy by predicting the wave conditions in real time, greatly improves the energy conversion efficiency, and overcomes the defect of low efficiency in the field of offshore energy conversion.
The technical means adopted by the invention are as follows:
a terminal equation constrained economic model prediction maximum wave energy capturing method comprises the following steps:
s1, constructing a dynamic model of the direct-drive wave energy power generation system;
and S2, based on the constructed dynamic model, real-time prediction of sea wave conditions is realized by adopting an economic model prediction control method, and the maximum power tracking of wave energy is achieved.
Further, the step S1 specifically includes:
s11, considering the force of the wave force on the vertical direction of the floater, enabling the wave energy conversion device to be equivalent to a vibration structure formed by a spring and a mass block, converting the vibration structure into a mechanical energy form of spring deformation elastic potential energy and mass block motion kinetic energy, and according to Newton' S second law, the kinetic equation of the direct-drive wave energy power generation device is as follows:
in the above formula, feIs the excitation force of sea waves; f. ofgThe reaction force of the electromagnetic force generated by the permanent magnet linear motor; f. ofrRadiation force generated for float movement; f. of0Friction due to fluid viscosity; f. ofhIs buoyancy; m is the mass of the floating body; m is∞As an additional mass; t is time; a is the displacement of the float; wherein:
fh＝-kha(t) (2)
in the above formula, khEquivalent elastic stiffness for sea water buoyancy; r0Is the coefficient of frictional resistance; h isrRepresenting the emissivity resulting from radiation forces; τ represents a convolution term parameter;
s12, analyzing the interaction between the wave and the floater, calculating a radiation function, wherein the convolution integral term is the following equation:
in the above formula, Ar、Br、CrA parameter matrix corresponding to the radiation force;
s13, combining the above formulas (1) - (5), the expression of the direct drive type wave energy power generation system is expressed as follows:
in the above formula, the first and second carbon atoms are,
is the speed of sea waves, Ac、Bc、Cc、DcA parameter matrix corresponding to the wave power system, wherein:
s14, based on sampling time TsDiscretizing to obtain:
x(k+1)＝Adx(k)+Bdu(k)+Ddw(k) (7a)
y(k)＝Cdx(k) (7b)
wherein A isd、Bd、CdIs a parameter matrix corresponding to the wave power generation system under the discrete system,
Cd＝Cc；
s15, after coordinate transformation, representing the three-phase power of the permanent magnet linear generator in the following mode:
wherein idAnd iqIs the current of the dq-axis,
is the speed of the float, RgIs the resistance of the stator winding, LgIs a synchronous inductor, and epsilon is the polar distance of the permanent magnet linear generator;
s16, electromagnetic force f is expressed byg：
Wherein L isdAnd LqIs the synchronous inductance of the dq axis,
is the magnetic flux of the permanent magnet linear motor;
s17, extracting power from sea waves, as follows:
Pe(t)＝-fg(t)x2(t) (10)
s18, at sampling time TsExtract energy output, as follows:
E(t)＝-Tsfgx2(t) (11)
s19, the cost function of the direct drive type wave energy power generation system in the economic stage is as follows:
le＝Tsfgx2 (12)。
further, the step S2 specifically includes:
s21, directly adopting the economic index as a target function, and returning to single-layer MPC control, and considering the following economic indexes:
in the above formula, NPTo achieve the number of steps in maximum wave energy capture,/eIs an economic indicator and is characterized in that,
the optimal rotor displacement of the linear generator is obtained, k is the current time, and i is the step length in a discrete state;
s22, based on the design limitation of the permanent magnet linear motor, the direct drive type wave energy power generation system is restrained by input restraint, and the design limitation is represented as follows:
|a|＝|x1|≤amax (14)
in the above formula, amaxIs the maximum displacement of the permanent magnet linear motor;
s23, another constraint is expressed as:
|fg|＝|u|≤umax (15)
wherein u ismaxThe maximum control input force acts on the direct drive type wave energy power generation system;
s24, based on the steps S21-S23, the economic model prediction control method is represented as follows:
compared with the prior art, the invention has the following advantages:
1. the terminal equality constraint economic model prediction maximum wave energy capture method provided by the invention adopts an economic model prediction strategy, breaks away from the original double-layer MPC system, directly adopts an economic index as a target function, simplifies complicated calculation steps and is more concise and concise.
2. Compared with other capturing strategies, the terminal equality constraint economic model prediction maximum wave energy capturing method provided by the invention can take the limitation of the motor displacement into consideration in the control strategy, and solves the problem that the captured optimal power cannot be realized in practical application.
3. According to the terminal equality constraint economic model prediction maximum wave energy capturing method, the adopted economic model prediction control method can complete maximum wave energy tracking, the robustness of the system is improved, the method is obviously superior to the traditional control in the aspect of capturing energy, and the advantage in the aspect of capturing maximum wave energy is obvious.
Based on the reason, the invention can be widely popularized in the fields of new energy application and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart of a method for predicting maximum wave energy capture by an economic model constrained by a terminal equation.
Fig. 2 is a structural block diagram of a wave energy power generation system provided by the embodiment of the invention.
Fig. 3 is a structural diagram of a direct drive type wave energy power generation device provided by the embodiment of the invention.
Fig. 4 is a flow chart of the operation of the direct drive type wave energy power generation system provided by the embodiment of the invention.
Fig. 5 is a graph showing a comparison of captured energies at different prediction step sizes according to an embodiment of the present invention.
FIG. 6 is a comparison of the economic model prediction and the normal model prediction provided by the embodiment of the invention for energy capture.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the present invention provides a terminal equation constrained economic model prediction maximum wave energy capture method, which includes:
s1, constructing a dynamic model of the direct-drive wave energy power generation system;
in a specific implementation, as a preferred embodiment of the present invention, the step S1 specifically includes:
s11, considering the force of the wave force on the vertical direction of the floater, enabling the wave energy conversion device to be equivalent to a vibration structure formed by a spring and a mass block, converting the vibration structure into a mechanical energy form of spring deformation elastic potential energy and mass block motion kinetic energy, and according to Newton' S second law, the kinetic equation of the direct-drive wave energy power generation device is as follows:
in the above formula, feIs the excitation force of sea waves; f. ofgThe reaction force of the electromagnetic force generated by the permanent magnet linear motor; f. ofrRadiation force generated for float movement; f. of0Friction due to fluid viscosity; f. ofhIs buoyancy; m is the mass of the floating body; m is∞As an additional mass; t is time; a is the displacement of the float; wherein:
fh＝-kha(t) (2)
in the above formula, khEquivalent elastic stiffness for sea water buoyancy; r0Is the coefficient of frictional resistance; h isrRepresenting the emissivity resulting from radiation forces; τ represents a convolution term parameter;
s12, analyzing the interaction between the wave and the floater, calculating a radiation function, wherein the convolution integral term is the following equation:
in the above formula, Ar、Br、CrA parameter matrix corresponding to the radiation force;
s13, combining the above formulas (1) - (5), the expression of the direct drive type wave energy power generation system is expressed as follows:
in the above formula, the first and second carbon atoms are,
is the speed of sea waves, Ac、Bc、Cc、DcA parameter matrix corresponding to the wave power system, wherein:
s14, based on sampling time TsDiscretizing to obtain:
x(k+1)＝Adx(k)+Bdu(k)+Ddw(k) (7a)
y(k)＝Cdx(k) (7b)
wherein A isd、Bd、CdIs a parameter matrix corresponding to the wave power generation system under the discrete system,
Cd＝Cc；
Cd＝Cc。
s15, after coordinate transformation, representing the three-phase power of the permanent magnet linear generator in the following mode:
wherein idAnd iqIs the current of the dq-axis,
is the speed of the float, RgIs the resistance of the stator winding, LgIs a synchronous inductor, and epsilon is the polar distance of the permanent magnet linear generator.
S16, electromagnetic force f is expressed byg：
Wherein L isdAnd LqIs the synchronous inductance of the dq axis,
is the magnetic flux of the permanent magnet linear motor;
s17, extracting power from sea waves, as follows:
Pe(t)＝-fg(t)x2(t) (10)
s18 atSampling time TsExtract energy output, as follows:
E(t)＝-Tsfgx2(t) (11)
s19, the cost function of the direct drive type wave energy power generation system in the economic stage is as follows:
le＝Tsfgx2 (12)。
and S2, based on the constructed dynamic model, real-time prediction of sea wave conditions is realized by adopting an economic model prediction control method, and the maximum power tracking of wave energy is achieved.
In a specific implementation, as a preferred embodiment of the present invention, the step S2 specifically includes:
s21, directly adopting the economic index as a target function, and returning to single-layer MPC control, and considering the following economic indexes:
in the above formula, NPNumber of steps, l, to achieve maximum wave energy captureeIs an economic index,
The method comprises the following steps of (1) obtaining the optimal rotor displacement of the linear generator, wherein k is the current time, and i is the step length in a discrete state;
s22, based on the design limitation of the permanent magnet linear motor, the direct drive type wave energy power generation system is restrained by input restraint, and the design limitation is represented as follows:
|a|＝|x1|≤amax (14)
in the above formula, amaxIs the maximum displacement of the permanent magnet linear motor;
s23, another constraint is expressed as:
|fg|＝|u|≤umax (15)
wherein u ismaxIs acted onThe maximum control input force of the direct drive type wave power generation system;
s24, based on the steps S21-S23, the economic model prediction control method is represented as follows:
in specific implementation, as a preferred embodiment of the invention, the invention designs a maximum wave energy capturing device based on a backstepping sliding mode method, and as shown in fig. 2 to 4, the working principle of a direct drive type wave energy power generation system is analyzed. The wave energy capturing device and the structure and mathematical model of the permanent magnet linear generator are researched. According to the wave incident frequency and amplitude, the optimal power output condition of the system is constructed, the d-q axis optimal reference current is obtained by adopting a decoupling method with id being 0, the optimal reference current is controlled and tracked through a sliding mode variable structure, as shown in fig. 5-6, the simulation result shows that the problem that the maximum power cannot be tracked in real time when the sea wave frequency and amplitude are changed is solved compared with the traditional PID control strategy.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A terminal equation constrained economic model prediction maximum wave energy capturing method is characterized by comprising the following steps:
s1, constructing a dynamic model of the direct-drive wave energy power generation system;
and S2, based on the constructed dynamic model, real-time prediction of sea wave conditions is realized by adopting an economic model prediction control method, and the maximum power tracking of wave energy is achieved.
2. The terminal equation constrained economic model prediction maximum wave energy capture method as claimed in claim 1, wherein the step S1 specifically comprises:
s11, considering the force of the wave force on the vertical direction of the floater, enabling the wave energy conversion device to be equivalent to a vibration structure formed by a spring and a mass block, converting the vibration structure into a mechanical energy form of spring deformation elastic potential energy and mass block motion kinetic energy, and according to Newton' S second law, the kinetic equation of the direct-drive wave energy power generation device is as follows:
in the above formula, feIs the excitation force of sea waves; f. ofgThe reaction force of the electromagnetic force generated by the permanent magnet linear motor; f. ofrRadiation force generated for float movement; f. of0Friction due to fluid viscosity; f. ofhIs buoyancy; m is the mass of the floating body; m is∞As an additional mass; t is time; a is the displacement of the float; wherein:
fh＝-kha(t) (2)
in the above formula, khEquivalent elastic stiffness for sea water buoyancy; r0Is the coefficient of frictional resistance; h isrRepresenting the emissivity resulting from radiation forces; τ represents a convolution term parameter;
s12, analyzing the interaction between the wave and the floater, calculating a radiation function, wherein the convolution integral term is the following equation:
in the above formula, Ar、Br、CrA parameter matrix corresponding to the radiation force;
s13, combining the above formulas (1) - (5), the expression of the direct drive type wave energy power generation system is expressed as follows:
in the above formula, the first and second carbon atoms are,
u(t)＝fg(t),
is the speed of sea waves, Ac、Bc、Cc、DcA parameter matrix corresponding to the wave power system, wherein:
s14, based on sampling time TsDiscretizing to obtain:
x(k+1)＝Adx(k)+Bdu(k)+Ddw(k) (7a)
y(k)＝Cdx(k) (7b)
wherein A isd、Bd、CdIs a parameter matrix corresponding to the wave power generation system under the discrete system,
Cd＝Cc；
s15, after coordinate transformation, representing the three-phase power of the permanent magnet linear generator in the following mode:
wherein idAnd iqIs the current of the dq-axis,
is the speed of the float, RgIs the resistance of the stator winding, LgIs a synchronous inductor, and epsilon is the polar distance of the permanent magnet linear generator;
s16, electromagnetic force f is expressed byg：
Wherein L isdAnd LqIs the synchronous inductance of the dq axis,
is the magnetic flux of the permanent magnet linear motor;
s17, extracting power from sea waves, as follows:
Pe(t)＝-fg(t)x2(t) (10)
s18, at sampling time TsExtract energy output, as follows:
E(t)＝-Tsfgx2(t) (11)
s19, the cost function of the direct drive type wave energy power generation system in the economic stage is as follows:
le＝Tsfgx2 (12)。
3. the terminal equation constrained economic model prediction maximum wave energy capture method as claimed in claim 1, wherein the step S2 specifically comprises:
s21, directly adopting the economic index as a target function, and returning to single-layer MPC control, and considering the following economic indexes:
in the above formula, NPTo achieve the number of steps in maximum wave energy capture,/eIs an economic indicator and is characterized in that,
the optimal rotor displacement of the linear generator is obtained, k is the current time, and i is the step length in a discrete state;
s22, based on the design limitation of the permanent magnet linear motor, the direct drive type wave energy power generation system is restrained by input restraint, and the design limitation is represented as follows:
|a|＝|x1|≤amax (14)
in the above formula, amaxIs the maximum displacement of the permanent magnet linear motor;
s23, another constraint is expressed as:
|fg|＝|u|≤umax (15)
wherein u ismaxThe maximum control input force acts on the direct drive type wave energy power generation system;
s24, based on the steps S21-S23, the economic model prediction control method is represented as follows:
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| CN110136025A (en) * | 2019-03-29 | 2019-08-16 | 广东工业大学 | A method of improving sea wave energy capture efficiency |
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