CN113221387A - Maximum energy output control method and system for wave energy conversion device - Google Patents

Maximum energy output control method and system for wave energy conversion device Download PDF

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CN113221387A
CN113221387A CN202110650225.1A CN202110650225A CN113221387A CN 113221387 A CN113221387 A CN 113221387A CN 202110650225 A CN202110650225 A CN 202110650225A CN 113221387 A CN113221387 A CN 113221387A
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sequence
conversion device
energy conversion
wave energy
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CN113221387B (en
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王振春
栾锋
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Yanshan University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/12—Timing analysis or timing optimisation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
    • 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
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    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient

Abstract

The invention discloses a method and a system for controlling the maximum energy output of a wave energy conversion device, wherein the method comprises the following steps: predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period through a model to obtain a speed sequence and a coordinate position sequence; solving an objective function based on the speed and coordinate position sequence to obtain a control sequence; calculating the compensation value of each control force in the control sequence in real time; storing the first nl control forces in the control sequence, sequentially adding corresponding compensation values to the first nl control forces to obtain the compensated first nl control forces, and sequentially controlling the devices according to the compensated first nl control forces until reaching a set time; and inputting the device for setting the time and the wave state into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each time in a set time period after nl control force is predicted, and updating the speed and coordinate position sequence. The invention can improve the control precision and reduce the calculation burden of the application on the processor.

Description

Maximum energy output control method and system for wave energy conversion device
Technical Field
The invention relates to the technical field of new energy, in particular to a method and a system for controlling the maximum energy output of a wave energy conversion device.
Background
Wave energy is a clean renewable energy source and has the characteristics of huge reserves, wide distribution and concentrated energy. In recent years, a large number of wave energy conversion devices are invented, and various control methods are gradually applied to the wave energy conversion devices. The wave energy power generation technology has two key problems to be solved, firstly, the wave energy power generation technology keeps safe operation in the marine environment and reduces the risk of damage; and secondly, the energy conversion efficiency of the wave energy conversion device is improved. The wave energy conversion device is controlled by a high-efficiency and reliable control method, and the method is an effective way for improving the wave energy conversion efficiency.
The model prediction control can process the physical constraint of the wave energy conversion device, and the working safety and the energy conversion efficiency of the device in the marine environment are improved. However, the application of model predictive control to the wave energy conversion device has two problems of model mismatch and calculation burden. For example, when model predictive control is applied to a wave energy conversion device to realize maximum energy output control of the wave energy conversion device, there are problems of model mismatch and computational burden in application. Therefore, how to effectively deal with the model mismatch phenomenon existing when the model predictive control is applied to the wave energy conversion device to realize the maximum energy output control of the wave energy conversion device, so as to improve the control precision and reduce the computational burden of the application on the processor becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the maximum energy output of a wave energy conversion device, which can improve the control precision of the maximum energy output of the wave energy conversion device and reduce the calculation burden of a processor.
In order to achieve the purpose, the invention provides the following scheme:
a method of controlling maximum energy output of a wave energy conversion device, the method comprising:
step S1: carrying out stress analysis on the wave energy conversion device, and establishing a discrete state space expression as a model;
step S2: inputting the state and the wave state of the wave energy conversion device at the current moment into the model, and predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period to obtain a speed sequence and a coordinate position sequence;
step S3: establishing an objective function by taking energy maximization as a target;
step S4: substituting the speed sequence and the coordinate position sequence into the objective function, and solving the objective function to obtain a control sequence of the wave energy conversion device; the control sequence comprises control force at each moment in a set time period;
step S5: calculating the error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time, and calculating the compensation value of each control force in the control sequence based on sliding mode control;
step S6: saving the first nl control forces in the control sequence, sequentially adding the corresponding compensation values to the first nl control forces to obtain the compensated first nl control forces, sequentially controlling the maximum energy output of the wave energy conversion device according to the compensated first nl control forces, and executing the step S7 until the set time is reached; nl is a positive integer greater than 1;
step S7: inputting the state and the wave state of the wave energy conversion device at the set moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in the set time period after nl control force, updating the speed sequence and the coordinate position sequence, and returning to the step S4.
Optionally, the performing stress analysis on the wave energy conversion device, and establishing a discrete state space expression as a model specifically includes:
newton second law formula for establishing wave energy conversion device
Figure BDA0003110919680000021
In the formula, m represents the mass of the float,
Figure BDA0003110919680000022
representing the vertical acceleration of the float, frRepresenting radiation force, fhDenotes the hydrostatic recovery force, fvRepresents linear adhesion force, feRepresenting the exciting force, fuRepresents a controlled force; wherein the radiation force frThe calculation formula of (2) is as follows:
Figure BDA0003110919680000023
in the formula, maDue to additional mass caused by radiation force, fRIs a convolution term of the radiation force,
Figure BDA0003110919680000024
is xrDerivative of (a), xrIs a state variable of radiation force, xrIs nrX 1 column vector, nrIs the variable x of radiation forcerThe number of rows of (a) to (b),
Figure BDA0003110919680000031
as the velocity of the float in the vertical direction, Ar、BrAnd CrIs fRA state space representation matrix; hydrostatic restoring force fhThe calculation formula of (2) is as follows: f. ofh＝kszv(ii) a In the formula, zvAs the coordinate position of the float in the vertical direction, ksIs the coefficient of stiffness, ksRho is the density of water, g is the acceleration of gravity, and S is the horizontal plane area of the floating body; adhesive force fvThe calculation formula of (2) is as follows:
Figure BDA0003110919680000032
in the formula, CvIs the coefficient of viscosity of the water-based polymer,
Figure BDA0003110919680000033
is the velocity of the wave in the vertical direction; excitation force feThe calculation formula of (2) is as follows:
Figure BDA0003110919680000034
in the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000035
is xeDerivative of (a), xeIs a state variable of the excitation force, xeIs neX 1 column vector, neIs variable x of exciting forceeNumber of lines of (1), zwIs the z-axis coordinate of the wave, Ae、BeAnd CeIs a state space representation matrix of the excitation force;
establishing a state space expression of the wave energy conversion device according to the Newton's second law formula
Figure BDA0003110919680000036
In the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000037
is a state variable of the wave energy conversion device,
Figure BDA0003110919680000038
Figure BDA0003110919680000039
is composed of
Figure BDA00031109196800000310
Derivative of (A)c、Buc、Bwc、BwwcC and CzIs a state space representation matrix of the wave energy conversion device,
Figure BDA00031109196800000311
Figure BDA00031109196800000312
C＝[0 1 01×(nr+ne)]，Cz＝[1 01×(nr+ne+1)]，msis m, maSum, u is the control force, u ═ fuW is the height of the wave, w-zw，
Figure BDA00031109196800000313
Is the velocity of the wave in the vertical direction,
Figure BDA00031109196800000314
Figure BDA00031109196800000315
is the velocity of the float in the vertical direction,
Figure BDA00031109196800000316
Figure BDA00031109196800000317
is the coordinate position of the float in the vertical direction,
Figure BDA00031109196800000318
dispersing the state space expression to obtain a discrete state space expression, and taking the discrete state space expression as a model; the discrete state space expression is:
Figure BDA0003110919680000041
in the formula (I), the compound is shown in the specification,
Figure BDA00031109196800000415
is the state of the wave energy conversion device at the moment k +1,
Figure BDA0003110919680000042
is the state of the wave energy conversion device at time k, u (k) is the control force at time k, w (k) is the wave height at time k,
Figure BDA0003110919680000043
the velocity of the wave in the vertical direction at time k,
Figure BDA0003110919680000044
is the velocity of the float in the vertical direction at time k,
Figure BDA0003110919680000045
is the coordinate position of the float at time k in the vertical direction, A, Bu、Bw、BwwIs Ac、Buc、Bwc、BwwcA discretized matrix.
Optionally, the inputting the state of the wave energy conversion device at the current moment and the wave state into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period, and obtaining a speed sequence and a coordinate position sequence specifically includes:
predicting the speed of the floater in the vertical direction at the k + i moment according to the discrete state space expression
Figure BDA00031109196800000413
And the coordinate position of the float in the vertical direction at time k + i
Figure BDA00031109196800000414
Obtaining a speed sequence Y of the floater in the vertical direction from the kth moment to the kth + i moment and a coordinate position sequence Z of the floater in the vertical direction from the kth moment to the kth + i moment; wherein the content of the first and second substances,
Figure BDA0003110919680000046
wherein x (k) is the state of the wave energy conversion device at time k,
Figure BDA0003110919680000047
i is a variable between 1 and k + i, j is a variable between 0 and i-1,
Figure BDA0003110919680000048
is the predicted control force at time k + j,
Figure BDA0003110919680000049
is the predicted wave height at time k + j,
Figure BDA00031109196800000410
is the predicted speed of the wave in the vertical direction at time k + j;
Figure BDA00031109196800000411
Figure BDA00031109196800000412
optionally, the establishing an objective function with energy maximization as a target specifically includes:
establishing an objective function with energy maximization as a target
Figure BDA0003110919680000051
Wherein U is a control sequence obtained by solving an objective function, Q and R are diagonal matrices, and ZminAnd ZmaxIs the minimum and maximum displacement limit, U, of the floatminAnd UmaxIs the minimum and maximum limits on the control force and T denotes the transposition.
Optionally, substituting the speed sequence and the coordinate position sequence into the objective function, and solving the objective function to obtain a control sequence of the wave energy conversion device, specifically including:
substituting the speed sequence Y and the coordinate position sequence Z into the objective function to solve the objective function
Figure BDA0003110919680000052
To obtain UT＝[u1u2 … unp-1 unp]Obtaining a control sequence of the wave energy conversion device; in the formula unpIndicates the np-th control force corresponding to the k + i-th time.
Optionally, the calculating an error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time, and calculating a compensation value of each control force in the control sequence based on sliding mode control specifically includes:
calculating control error in real time
Figure BDA0003110919680000053
Where y (k) is the actual velocity of the float in the vertical direction at time k,
Figure BDA0003110919680000054
the velocity of the floater in the vertical direction at the moment k is obtained by the model prediction;
calculating compensation value of control force at k moment based on sliding mode control
Figure BDA0003110919680000055
In the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000056
is the derivative of e (k), λ is a normal number, λ is the slope of the sliding mode surface, s is the sliding mode surface, wherein,
Figure BDA0003110919680000057
optionally, the sequentially adding the corresponding compensation values to the first nl control forces respectively to obtain the compensated first nl control forces specifically includes:
according to the formula u*(k) U (k) + u '(k), the compensation value u' (k) at time k and the control force u (k) at time k are added to obtain the control force u (k) compensated at time k*(k)；
Using a formula
Figure BDA0003110919680000061
For u is paired*(k) Constraint is carried out to obtain a control force u after constraint at the moment k**(k)；
Control force u after each time constraint**(k) And combining to obtain the front nl compensated control forces.
The invention also provides the following scheme:
a maximum energy output control system for a wave energy conversion device, the system comprising:
the model establishing module is used for carrying out stress analysis on the wave energy conversion device and establishing a discrete state space expression as a model;
the speed and coordinate position sequence determination module is used for inputting the state and the wave state of the wave energy conversion device at the current moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period, and obtaining a speed sequence and a coordinate position sequence;
the target function establishing module is used for establishing a target function by taking energy maximization as a target;
the control sequence solving module is used for substituting the speed sequence and the coordinate position sequence into the objective function to solve the objective function to obtain a control sequence of the wave energy conversion device; the control sequence comprises control force at each moment in a set time period;
the compensation value calculating module is used for calculating the error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time and calculating the compensation value of each control force in the control sequence based on sliding mode control;
the control force storage and compensation module is used for storing the first nl control forces in the control sequence, sequentially adding corresponding compensation values to the first nl control forces to obtain the first nl compensated control forces, sequentially controlling the maximum energy output of the wave energy conversion device according to the first nl compensated control forces, and executing the speed and coordinate position sequence updating module until the set time is reached; nl is a positive integer greater than 1;
and the speed and coordinate position sequence updating module is used for inputting the state and the wave state of the wave energy conversion device at the set moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period after nl control force, updating the speed sequence and the coordinate position sequence and returning to the control sequence solving module.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a maximum energy output control method and a system of a wave energy conversion device, which can calculate the error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in a speed sequence in real time, calculate the compensation value of each control force in the control sequence based on sliding mode control, sequentially add the corresponding compensation value to the first nl control forces by storing the first nl control forces in the compensated control sequence, obtain the first nl control forces after compensation, control the maximum energy output of the wave energy conversion device according to each control force in sequence until the set moment is reached, input the state and the wave state of the wave energy conversion device at the set moment into a model, predict the speed and the coordinate position of a floater in the vertical direction at each moment in a set time period after the nth control force is used up, update the speed sequence and the coordinate position sequence, and the improved processing can solve a target function in advance, the solving time is more abundant, and the calculation burden of the processor is reduced; meanwhile, the model mismatch is compensated through sliding mode control to improve the control precision, so that the maximum energy output is obtained.
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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 embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flow chart of an embodiment of a method of maximum energy output control for a wave energy conversion device of the present invention;
FIG. 2 is a schematic diagram of an oscillating float type wave energy conversion device according to the present invention;
FIG. 3 is a schematic diagram of the improved model predictive control concept of the present invention;
FIG. 4 is a schematic diagram of a maximum energy output control method of the wave energy conversion device of the present invention;
fig. 5 is a block diagram of an embodiment of a maximum energy output control system for a wave energy conversion device of the present invention.
Detailed Description
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.
The invention aims to provide a method and a system for controlling the maximum energy output of a wave energy conversion device, which can improve the control precision and reduce the calculation burden of application on a processor.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 2 is a schematic diagram of the oscillating float type wave energy conversion device. Referring to fig. 2, the oscillating float type wave energy conversion device (point absorption type wave energy conversion device), i.e., the wave energy power generation system, includes a float 1, a hydraulic cylinder 2, a piston 4, an energy output device 5 and an anti-heave plate 3, the float 1 is connected with the piston 4 in the hydraulic cylinder 2, the hydraulic cylinder 2 is connected with the anti-heave plate 3, and can be regarded as equipment fixed on the seabed; the waves drive the float 1 to move, so that the piston 4 and the hydraulic cylinder 2 are caused to move relatively, and the energy output device 5 is used for generating energy. The wave energy conversion device is used for converting wave energy of sea water waves into mechanical energy held by the floating body, so that the piston 4 and the hydraulic cylinder 2 generate relative motion; and finally, converting the mechanical energy converted by the wave energy conversion device into electric energy by an energy output device 5.
Fig. 1 is a flowchart of an embodiment of a maximum energy output control method of a wave energy conversion device of the present invention, and referring to fig. 1, the maximum energy output control method of a point absorption wave energy conversion device includes:
step S1: and (4) carrying out stress analysis on the point absorption type wave energy conversion device, and establishing a discrete state space expression as a model.
The step S1 specifically includes:
analyzing the stress condition of the wave energy conversion device, and establishing a Newton second law formula of the wave energy conversion device
Figure BDA0003110919680000081
In the formula, m represents the mass of the float,
Figure BDA0003110919680000082
representing the vertical acceleration of the float, frRepresenting radiation force, fhDenotes the hydrostatic recovery force, fvRepresents linear adhesion force, feRepresenting the exciting force, fuRepresents a controlled force, i.e. a control input of the system; wherein the radiation force frThe calculation formula of (2) is as follows:
Figure BDA0003110919680000083
in the formula, maDue to additional mass caused by radiation force, fRIs a convolution term of the radiation force,
Figure BDA0003110919680000084
is xrDerivative of (a), xrIs a state variable of radiation force, xrIs nrX 1 column vector, nrIs the variable x of radiation forcerThe number of rows of (a) to (b),
Figure BDA0003110919680000085
as the velocity of the float in the vertical direction, Ar、BrAnd CrIs fRA state space representation matrix; hydrostatic restoring force fhThe calculation formula of (2) is as follows: f. ofh＝kszv(ii) a In the formula, zvAs the coordinate position of the float in the vertical direction, ksIs the coefficient of stiffness, ksRho is the density of water, g is the acceleration of gravity, and S is the horizontal plane area of the floating body; adhesive force fvThe calculation formula of (2) is as follows:
Figure BDA0003110919680000091
in the formula, CvIs the coefficient of viscosity of the water-based polymer,
Figure BDA0003110919680000092
is the velocity of the wave in the vertical direction; excitation force feThe calculation formula of (2) is as follows:
Figure BDA0003110919680000093
in the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000094
is xeDerivative of (a), xeIs a state variable of the excitation force, xeIs neX 1 column vector, neIs variable x of exciting forceeNumber of lines of (1), zwIs the z-axis coordinate of the wave, Ae、BeAnd CeIs a state space representation matrix of the excitation forces.
Establishing a motion state space expression of the wave energy conversion device according to the Newton's second law formula
Figure BDA0003110919680000095
In the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000096
the state variables of the wave energy conversion device, namely the state variables of the model,
Figure BDA0003110919680000097
Figure BDA0003110919680000098
is composed of
Figure BDA0003110919680000099
Derivative of (A)c、Buc、Bwc、BwwcC and CzIs a state space representation matrix of the wave energy conversion device,
Figure BDA00031109196800000910
Figure BDA00031109196800000911
C＝[0 1 01×(nr+ne)]，Cz＝[1 01×(nr+ne+1)]k is the stiffness coefficient and nr is the state variable x of the radiation forcerThe number of lines of (ne) is the state variable x of the exciting forceeNumber of lines of (m)sIs m, maSum, u being the control force, i.e. the control input, u ═ fuW is the height of the waveDegree, w ═ zw，
Figure BDA00031109196800000912
Is the velocity of the wave in the vertical direction,
Figure BDA00031109196800000913
Figure BDA00031109196800000914
is the velocity of the float in the vertical direction,
Figure BDA00031109196800000915
Figure BDA00031109196800000916
is the coordinate position of the float in the vertical direction,
Figure BDA00031109196800000917
dispersing the state space expression to obtain a discrete state space expression of the conversion device, and taking the discrete state space expression as a model; the discrete state space expression is:
Figure BDA0003110919680000101
in the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000102
the state of the wave energy conversion device at the moment k +1, namely the model state at the moment k +1,
Figure BDA0003110919680000103
is the state of the wave energy conversion device at time k, i.e. the model state at time k (the current time), u (k) is the control force at time k, i.e. the control input at time k, w (k) is the wave height at time k,
Figure BDA0003110919680000104
the velocity of the wave in the vertical direction at time k,
Figure BDA0003110919680000105
is the velocity of the float in the vertical direction at time k,
Figure BDA0003110919680000106
is the coordinate position of the float at time k in the vertical direction, A, Bu、Bw、BwwIs Ac、Buc、Bwc、BwwcA discretized matrix.
Step S2: and inputting the state and the wave state of the wave energy conversion device at the current moment into the model, and predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period to obtain a speed sequence and a coordinate position sequence.
The step S2 is to apply a model predictive control principle to the wave energy conversion device based on the current state and the discrete state space expression, and the step S2 specifically includes:
predicting the speed of the floater in the vertical direction at the k + i moment according to the discrete state space expression
Figure BDA0003110919680000107
And the coordinate position of the float in the vertical direction at time k + i
Figure BDA0003110919680000108
Predicting future output states
Figure BDA0003110919680000109
And
Figure BDA00031109196800001010
and finally obtaining a prediction sequence Y and a prediction sequence Z, namely a speed sequence Y of the floater in the vertical direction from the k moment to the k + i moment and a coordinate position sequence Z of the floater in the vertical direction from the k moment to the k + i moment.
Wherein the content of the first and second substances,
Figure BDA00031109196800001011
in the formula (I), the compound is shown in the specification,
Figure BDA00031109196800001012
is the predicted output at time k to time k + i y,
Figure BDA00031109196800001013
is the predicted output of the time k to the time k + i, and x (k) is the state of the wave energy conversion device at the time k, namely the real state of the current system (device),
Figure BDA00031109196800001014
i is a variable between 1 and k + i (np), j is a variable between 0 and i-1,
Figure BDA00031109196800001015
is a predicted value of u at the time k + j, i.e., a predicted control force at the time k + j,
Figure BDA00031109196800001016
is the predicted value at time k to time k + j, i.e. the predicted wave height at time k + j,
Figure BDA00031109196800001017
is at time k vs. time k + j
Figure BDA00031109196800001018
I.e. the predicted speed of the wave in the vertical direction at the moment k + j.
Figure BDA00031109196800001019
Figure BDA0003110919680000111
Finally obtaining predicted sequences Y and Z:
Figure BDA0003110919680000112
Figure BDA0003110919680000113
wherein:
Λxy T＝[C CA CA2 … CAnp]，Λxz T＝[Cz CzA CC A2 … CzAnp]，
Figure BDA0003110919680000114
Figure BDA0003110919680000115
Figure BDA0003110919680000116
Figure BDA0003110919680000117
step S3: and establishing an objective function by using energy maximization as a target.
In step S3, an objective function of model predictive control is obtained according to the energy maximization objective, and step S3 specifically includes:
establishing an energy maximization objective function with an energy maximization objective
Figure BDA0003110919680000121
Wherein U is a control sequence obtained by solving an objective function, UT＝[u1u2 … unp-1 unp]，(U)T＝UTQ and R are diagonal matrices, ZminAnd ZmaxIs the minimum and maximum displacement limit, U, of the floatminAnd UmaxIs a minimum and maximum limit for the control force (control input), T-tableShowing device (Z)T＝ZTY and Z are the output Y, Z prediction sequences based on the model.
Step S4: substituting the speed sequence and the coordinate position sequence into the objective function, and solving the objective function to obtain a control sequence of the wave energy conversion device; the control sequence includes control forces at various times within a set time period.
In step S4, an optimal control sequence and an optimal predicted trajectory are solved according to the objective function, and step S4 specifically includes:
substituting the speed sequence Y and the coordinate position sequence Z into the objective function to solve the objective function
Figure BDA0003110919680000122
To obtain UT＝[u1u2 … unp-1 unp]Obtaining a control sequence of the wave energy conversion device; in the formula unpIndicates the (n) th control force (u) corresponding to the (k + i) th time1Indicating the 1 st control force corresponding to the k-th time.
Before solving the objective function, the constants in each calculation can be reduced, and the final result is:
Figure BDA0003110919680000123
in the formula:
Figure BDA0003110919680000124
step S5: and calculating the error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time, and calculating the compensation value of each control force in the control sequence based on sliding mode control.
In step S5, in order to reduce the influence of the model mismatch factor and improve the control accuracy of the device, compensation control is used to perform compensation processing, and a compensation control amount is calculated based on an error between an actual state and a state in a predicted trajectory, specifically including:
calculating control error in real time
Figure BDA0003110919680000131
Where y (k) is the output variable of the actual system (device), i.e. the actual velocity of the float in the vertical direction at time k,
Figure BDA0003110919680000132
is a theoretical state variable calculated according to a model, namely the velocity of the floater in the vertical direction at the k moment predicted by the model.
Calculating the compensation value of the control force at the moment k (sliding mode compensation control value) based on sliding mode control
Figure BDA0003110919680000133
In the formula (I), the compound is shown in the specification,
Figure BDA0003110919680000134
is the derivative of e (k), λ is a normal number, λ is the slope of the sliding mode surface, s is the sliding mode surface,
Figure BDA0003110919680000135
t is equal to time k, y (t) is equal to y (k),
Figure BDA0003110919680000136
is the derivative of y (t), h is a normal number, wherein,
Figure BDA0003110919680000137
the compensation value is updated and solved at each moment to obtain a compensated control value at each moment.
Step S6: saving the first nl control forces in the control sequence, sequentially adding the corresponding compensation values to the first nl control forces to obtain the compensated first nl control forces, sequentially controlling the maximum energy output of the wave energy conversion device according to the compensated first nl control forces, and executing the step S7 until the set time is reached; nl is a positive integer greater than 1.
This step S6 protectsMemory control sequence UT＝[u1u2 … unp-1 unp]And the middle and previous nl control forces are applied in the next nl moments, wherein nl is smaller than np, a final control value is calculated and final processing is performed on the constraint, the final control value is obtained by adding a compensation control quantity to the control quantity and checking whether the constraint of the control value is violated, wherein the corresponding compensation values are sequentially added to the previous nl control forces respectively to obtain the compensated previous nl control forces, and the method specifically comprises the following steps:
according to the formula u*(k) U (k) + u '(k), the compensation value u' (k) at time k and the control force u (k) at time k are added to obtain the control force u (k) compensated at time k*(k)。
Using a formula
Figure BDA0003110919680000138
For u is paired*(k) Constraint is carried out to obtain a control force u after constraint at the moment k**(k)。
Control force u after each time constraint**(k) The first nl control forces after compensation are obtained by combination
Figure BDA0003110919680000139
In the formula (I), the compound is shown in the specification,
Figure BDA00031109196800001310
the 1 st control force after compensation is indicated,
Figure BDA00031109196800001311
the nth control force after compensation is shown. And the moment corresponding to the nth control force after compensation is nl moment.
Step S7: inputting the state and the wave state of the wave energy conversion device at the set moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in the set time period after nl control force, updating the speed sequence and the coordinate position sequence, and returning to the step S4.
FIG. 3 is a schematic diagram of the improved model predictive control concept of the present invention, wherein the steps S6 and S7 are performed according to the improved modelThe predictive control method applies the optimal control value,
Figure BDA0003110919680000141
the nl control forces in (a) are applied in time order. Calculated control sequence
Figure BDA0003110919680000142
And taking the nl control force values in the sequence as the optimal control values in the next nl sampling time range according to the time. Setting a calculation time nc during the period of applying nl control values, namely setting the time, wherein the control force corresponding to the calculation time nc is the nth control force in the control sequence, nc is a positive integer greater than 1 and less than nl, and since each time corresponds to one control force value, the calculation time nc corresponds to the nth control force value in the previous nl control force values, for example, when the calculation time nc is reached, the control force value applied at the time is the control force value applied at the time
Figure BDA0003110919680000143
Predicting the predicted state when all nl control values have been applied, i.e. about to be applied, based on the actual state at the moment of computation and the model according to the model predictive control principle
Figure BDA0003110919680000144
To
Figure BDA0003110919680000145
Sequentially using up, and according to the use up
Figure BDA0003110919680000146
The target function is solved in the time prediction state to obtain a new optimal control sequence, the improved processing can solve the target function in advance, the calculation time is increased from one sampling time to nl-nc times, the solution time is more abundant, and the calculation burden is reduced. And the number of the control values in the new optimal control sequence is equal to the number of the control values in the previous optimal control sequence.
Step S7, when the optimal predicted trajectory calculation time set by the improved model prediction control method is reached, that is, the calculation time starts to predict the final time state of the application optimal control sequence, and the objective function solution is performed again (the objective function is solved once at nl times, and the control sequence is solved once at nl times). Namely, after the control force values in the optimal control sequence are all applied, the optimal control sequence is updated to be used as the control value in the next nl moment. And when the nl control force values are completely applied, using the new optimal control sequence obtained by starting calculation at the nc time as the control value in the next nl time.
The invention discloses a maximum energy output control method of a wave energy conversion device, which is characterized in that according to the power generation principle of a point absorption type wave energy conversion device, a floater motion model (discrete state space expression) is established through stress analysis, the displacement constraint and the control force constraint of a floater are added, an objective function is established for a target based on energy maximization to obtain an optimal control sequence, model prediction control is improved, the optimal value in the control sequence is used as a control value, the calculation time is set, the time range of solving the objective function is expanded, and the calculation load is reduced; and then, a compensation control method is used for compensating the model mismatch factors, so that the control precision is improved. The method solves the problem of calculation burden on a processor when the wave energy conversion device model prediction control is applied, and improves the control precision of equipment. Fig. 4 is a schematic diagram of a maximum energy output control method of the wave energy conversion device. Referring to fig. 4, the method mainly utilizes an improved model predictive control method to provide a control sequence and an optimal predicted trajectory based on an energy maximization target, and specifically includes: and determining an objective function, and applying an improved model predictive control method to the wave energy conversion device. A compensation control amount is calculated based on an error between the actual state and the state in the predicted trajectory. The final control value (control input) is the control amount plus the compensation control amount and it is checked whether the constraint of the control value is violated. According to the method, the control precision and the total energy absorption amount of the wave energy conversion device are improved and the calculation load of model prediction control is reduced by combining an improved model prediction control method and a tracking compensation control method.
Fig. 5 is a block diagram of an embodiment of a maximum energy output control system for a wave energy conversion device of the present invention. Referring to fig. 5, the maximum energy output control system of the wave energy conversion device includes:
the model establishing module 501 is configured to perform stress analysis on the wave energy conversion device, and establish a discrete state space expression as a model.
And a speed and coordinate position sequence determining module 502, configured to input the state and the wave state of the wave energy conversion device at the current moment into the model, and predict the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period, so as to obtain a speed sequence and a coordinate position sequence.
An objective function establishing module 503, configured to establish an objective function for the target with energy maximization.
A control sequence solving module 504, configured to substitute the speed sequence and the coordinate position sequence into the objective function, and solve the objective function to obtain a control sequence of the wave energy conversion device; the control sequence includes control forces at various times within a set time period.
And the compensation value calculating module 505 is configured to calculate an error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time, and calculate a compensation value of each control force in the control sequence based on sliding mode control.
The control force storage and compensation module 507 is used for storing the first nl control forces in the compensated control sequence, sequentially adding corresponding compensation values to the first nl control forces to obtain the first nl compensated control forces, and sequentially controlling the maximum energy output of the wave energy conversion device according to the first nl compensated control forces, until the set time is reached, executing the speed and coordinate position sequence updating module; nl is a positive integer greater than 1.
A speed and coordinate position sequence updating module 508, configured to input the state and the wave state of the wave energy conversion device at the set time into the model, predict the speed and the coordinate position of the floater in the vertical direction at each time within a set time period after nl control force, update the speed sequence and the coordinate position sequence, and return to the control sequence solving module 504.
In order to overcome the problems of model mismatch and calculation burden during application of the maximum energy output control method of the wave energy conversion device in the prior art, the invention improves the model prediction control, fully utilizes the control sequence obtained by solving the objective function, solves the objective function in advance, provides sufficient time for the solving process, reduces the calculation burden, adds compensation control and improves the control precision. The invention discloses a maximum energy output control method and a maximum energy output control system for a wave energy conversion device, which improve and apply model prediction control, solve a model prediction control objective function, calculate in advance, make full use of an optimal sequence, reduce the calculation burden, and finally improve the control precision by compensation control. The optimal control sequence and the prediction track are provided by improving the model prediction control, the model mismatch is compensated by sliding mode control to improve the control precision, and the compensation control enables the device to operate according to the prediction track, so that the maximum energy output is obtained, the difficulty of the model prediction control practical application of the wave energy conversion device is reduced, the wave energy conversion device has high control precision and anti-interference capability and strong robustness, and the problem of low working efficiency of the wave energy conversion device is solved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A method of controlling maximum energy output of a wave energy conversion device, the method comprising:
step S1: carrying out stress analysis on the wave energy conversion device, and establishing a discrete state space expression as a model;
step S2: inputting the state and the wave state of the wave energy conversion device at the current moment into the model, and predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period to obtain a speed sequence and a coordinate position sequence;
step S3: establishing an objective function by taking energy maximization as a target;
step S4: substituting the speed sequence and the coordinate position sequence into the objective function, and solving the objective function to obtain a control sequence of the wave energy conversion device; the control sequence comprises control force at each moment in a set time period;
step S5: calculating the error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time, and calculating the compensation value of each control force in the control sequence based on sliding mode control;
step S6: saving the first nl control forces in the control sequence, sequentially adding the corresponding compensation values to the first nl control forces to obtain the compensated first nl control forces, sequentially controlling the maximum energy output of the wave energy conversion device according to the compensated first nl control forces, and executing the step S7 until the set time is reached; nl is a positive integer greater than 1;
step S7: inputting the state and the wave state of the wave energy conversion device at the set moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in the set time period after nl control force, updating the speed sequence and the coordinate position sequence, and returning to the step S4.
2. The method for controlling the maximum energy output of the wave energy conversion device according to claim 1, wherein the stress analysis is performed on the wave energy conversion device, and the discrete state space expression is established as a model, and specifically comprises:
newton second law formula for establishing wave energy conversion device
Figure FDA0003110919670000011
In the formula, m represents the mass of the float,
Figure FDA0003110919670000012
representing the vertical acceleration of the float, frRepresenting radiation force, fhDenotes the hydrostatic recovery force, fvRepresents linear adhesion force, feRepresenting the exciting force, fuRepresents a controlled force; wherein the radiation force frThe calculation formula of (2) is as follows:
Figure FDA0003110919670000021
in the formula, maDue to additional mass caused by radiation force, fRIs a convolution term of the radiation force,
Figure FDA0003110919670000022
is xrDerivative of (a), xrIs a state variable of radiation force, xrIs nrX 1 column vector, nrIs the variable x of radiation forcerThe number of rows of (a) to (b),
Figure FDA0003110919670000023
as the velocity of the float in the vertical direction, Ar、BrAnd CrIs fRA state space representation matrix; hydrostatic restoring force fhThe calculation formula of (2) is as follows: f. ofh＝kxzv(ii) a In the formula, zvAs the coordinate position of the float in the vertical direction, ksIs the coefficient of stiffness, ksRho is the density of water, g is the acceleration of gravity, and S is the horizontal plane area of the floating body; adhesive force fvThe calculation formula of (2) is as follows:
Figure FDA0003110919670000024
in the formula, CvIs the coefficient of viscosity of the water-based polymer,
Figure FDA0003110919670000025
is the velocity of the wave in the vertical direction; excitation force feThe calculation formula of (2) is as follows:
Figure FDA0003110919670000026
in the formula (I), the compound is shown in the specification,
Figure FDA0003110919670000027
is xeDerivative of (a), xeIs a state variable of the excitation force, xeIs neX 1 column vector, neIs variable x of exciting forceeNumber of lines of (1), zwIs the z-axis coordinate of the wave, Ae、BeAnd CeIs a state space representation matrix of the excitation force;
establishing a state space expression of the wave energy conversion device according to the Newton's second law formula
Figure FDA0003110919670000028
In the formula (I), the compound is shown in the specification,
Figure FDA0003110919670000029
is a state variable of the wave energy conversion device,
Figure FDA00031109196700000210
Figure FDA00031109196700000211
is composed of
Figure FDA00031109196700000212
Derivative of (A)c、Buc、Bwc、BwwcC and CzIs a state space representation matrix of the wave energy conversion device,
Figure FDA00031109196700000213
Figure FDA0003110919670000031
C＝[0 1 01×(nr+ne)]，Cz＝[1 01×(nr+ne+1)]，msis m, maSum, u is the control force, u ═ fuW is the height of the wave, w-zw，
Figure FDA0003110919670000032
Is the velocity of the wave in the vertical direction,
Figure FDA0003110919670000033
Figure FDA0003110919670000034
is the velocity of the float in the vertical direction,
Figure FDA0003110919670000035
Figure FDA0003110919670000036
is the coordinate position of the float in the vertical direction,
Figure FDA0003110919670000037
dispersing the state space expression to obtain a discrete state space expression, and taking the discrete state space expression as a model; the discrete state space expression is:
Figure FDA0003110919670000038
in the formula (I), the compound is shown in the specification,
Figure FDA0003110919670000039
is the state of the wave energy conversion device at the moment k +1,
Figure FDA00031109196700000310
is the state of the wave energy conversion device at time k, u (k) is the control force at time k, and w (k) is kThe height of the wave at the moment of time,
Figure FDA00031109196700000311
the velocity of the wave in the vertical direction at time k,
Figure FDA00031109196700000312
is the velocity of the float in the vertical direction at time k,
Figure FDA00031109196700000313
is the coordinate position of the float at time k in the vertical direction, A, Bu、Bw、BwwIs Ac、Buc、Bwc、BwwcA discretized matrix.
3. The method for controlling maximum energy output of a wave energy conversion device according to claim 2, wherein the method for inputting the state of the wave energy conversion device at the current moment and the state of the wave into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period, and obtaining a speed sequence and a coordinate position sequence specifically comprises:
predicting the speed of the floater in the vertical direction at the k + i moment according to the discrete state space expression
Figure FDA00031109196700000314
And the coordinate position of the float in the vertical direction at time k + i
Figure FDA00031109196700000315
Obtaining a speed sequence Y of the floater in the vertical direction from the kth moment to the kth + i moment and a coordinate position sequence Z of the floater in the vertical direction from the kth moment to the kth + i moment; wherein the content of the first and second substances,
Figure FDA00031109196700000316
wherein x (k) is the state of the wave energy conversion device at time k,
Figure FDA00031109196700000317
i is a variable between 1 and k + i, j is a variable between 0 and i-1,
Figure FDA00031109196700000318
is the predicted control force at time k + j,
Figure FDA00031109196700000319
is the predicted wave height at time k + j,
Figure FDA00031109196700000320
is the predicted speed of the wave in the vertical direction at time k + j;
Figure FDA0003110919670000041
4. the method for controlling maximum energy output of a wave energy conversion device according to claim 3, wherein the establishing an objective function with the energy maximization as a target specifically comprises:
establishing an objective function with energy maximization as a target
Figure FDA0003110919670000042
Wherein U is a control sequence obtained by solving an objective function, Q and R are diagonal matrices, and ZminAnd ZmaxIs the minimum and maximum displacement limit, U, of the floatminAnd UmaxIs the minimum and maximum limits on the control force and T denotes the transposition.
5. The method for controlling maximum energy output of a wave energy conversion device according to claim 4, wherein the step of substituting the speed sequence and the coordinate position sequence into the objective function to solve the objective function to obtain a control sequence of the wave energy conversion device specifically comprises:
substituting the speed sequence Y and the coordinate position sequence Z into the objective function to solve the objective function
Figure FDA0003110919670000043
To obtain UT＝[u1u2 … unp-1 unp]Obtaining a control sequence of the wave energy conversion device; in the formula unpIndicates the np-th control force corresponding to the k + i-th time.
6. The method for controlling maximum energy output of a wave energy conversion device according to claim 5, wherein the calculating an error between an actual speed of the wave energy conversion device at a current moment and a speed at the current moment in the speed sequence in real time, and calculating a compensation value of each control force in the control sequence based on sliding mode control specifically comprises:
calculating control error in real time
Figure FDA0003110919670000044
Where y (k) is the actual velocity of the float in the vertical direction at time k,
Figure FDA0003110919670000045
the velocity of the floater in the vertical direction at the moment k is obtained by the model prediction;
calculating compensation value of control force at k moment based on sliding mode control
Figure FDA0003110919670000051
In the formula (I), the compound is shown in the specification,
Figure FDA0003110919670000052
is the derivative of e (k), λ is a normal number, λ is the slope of the sliding mode surface, s is the sliding mode surface, wherein,
Figure FDA0003110919670000053
7. the method for controlling maximum energy output of a wave energy conversion device according to claim 6, wherein the sequentially adding the corresponding compensation values to the first nl control forces to obtain the compensated first nl control forces comprises:
according to the formula u*(k) U (k) + u '(k), the compensation value u' (k) at time k and the control force u (k) at time k are added to obtain the control force u (k) compensated at time k*(k)；
Using a formula
Figure FDA0003110919670000054
For u is paired*(k) Constraint is carried out to obtain a control force u after constraint at the moment k**(k)；
Control force u after each time constraint**(k) And combining to obtain the front nl compensated control forces.
8. A maximum energy output control system for a wave energy conversion device, the system comprising:
the model establishing module is used for carrying out stress analysis on the wave energy conversion device and establishing a discrete state space expression as a model;
the speed and coordinate position sequence determination module is used for inputting the state and the wave state of the wave energy conversion device at the current moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period, and obtaining a speed sequence and a coordinate position sequence;
the target function establishing module is used for establishing a target function by taking energy maximization as a target;
the control sequence solving module is used for substituting the speed sequence and the coordinate position sequence into the objective function to solve the objective function to obtain a control sequence of the wave energy conversion device; the control sequence comprises control force at each moment in a set time period;
the compensation value calculating module is used for calculating the error between the actual speed of the wave energy conversion device at the current moment and the speed at the current moment in the speed sequence in real time and calculating the compensation value of each control force in the control sequence based on sliding mode control;
the control force storage and compensation module is used for storing the first nl control forces in the control sequence, sequentially adding corresponding compensation values to the first nl control forces to obtain the first nl compensated control forces, sequentially controlling the maximum energy output of the wave energy conversion device according to the first nl compensated control forces, and executing the speed and coordinate position sequence updating module until the set time is reached; nl is a positive integer greater than 1;
and the speed and coordinate position sequence updating module is used for inputting the state and the wave state of the wave energy conversion device at the set moment into the model, predicting the speed and the coordinate position of the floater in the vertical direction at each moment in a set time period after nl control force, updating the speed sequence and the coordinate position sequence and returning to the control sequence solving module.
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