CN113847202B - Variable pitch stable rotation speed control system and control method for wind turbine generator - Google Patents
Variable pitch stable rotation speed control system and control method for wind turbine generator Download PDFInfo
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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
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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
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- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
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- F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
- F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
- F03D7/044—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with PID control
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Abstract
The invention discloses a variable pitch stable rotating speed control system and a control method for a wind turbine, wherein the system comprises the following components: the encoder module obtains a generator rotating speed signal and sends the generator rotating speed signal to the Kalman filter; the Kalman filter also receives the electromagnetic torque value and the wind torque estimated value of the generator, performs filtering processing, and sends the filtering result to the nonlinear differential tracker; the nonlinear differential tracker performs filtering calculation on the rotation speed signal again to obtain a rotation speed signal feedback value and sends the rotation speed signal feedback value to the comparator; the comparator compares the rotation speed error value with a rotation speed preset value to obtain a rotation speed error value and sends the rotation speed error value to the PID controller; the PID controller receives the rotational speed differential signal, obtains a variable pitch control instruction of the wind wheel according to the rotational speed signal error value, and sends the variable pitch control instruction to a variable pitch control system of the wind turbine. By combining a PI control algorithm, a complete PID algorithm is formed, the stability margin of a control system is improved, and when the wind speed of a wind power plant greatly fluctuates, the rotating speed is more stable, and the electric energy output is more stable.
Description
Technical Field
The invention relates to the technical field of wind power control, in particular to a variable pitch stable rotation speed control system and a control method of a wind turbine generator.
Background
Through the rapid development of recent decades, the wind power generation technology is basically mature, but is not perfect enough, and the system stability under the working condition of strong wind is still to be optimized. Under the working condition of strong wind, the wind speed has large variation amplitude, and the rotation speed and the power of the generator are easy to fluctuate, so that the electric energy quality is reduced or the generator overspeed is failed. With the development of wind power markets, wind power technology is increasingly competitive. Improving the stability of wind power generators and reducing the failure rate of wind power generators are urgent demands of wind power technology.
As shown in fig. 1, in the existing pitch-variable speed-stabilizing control system, an encoder collects a rotation speed signal of a generator, then the rotation speed signal is filtered by a linear filter and then is used as a feedback signal of a controller to be compared with a rotation speed set value, a pitch-variable instruction is obtained after PID calculation, and the pitch-variable system adjusts the pitch angle under the action of the pitch-variable instruction, so that the driving moment of the generator, namely the rotation moment from a wind wheel, is changed. The filter of fig. 1 typically employs a linear first order or linear second order filter, which may lead to phase lag, reducing the stability of the control system. Although the PID control algorithm can compensate the phase lag of the filter, because the filtered speed signal still has noise interference, in order to avoid adverse effect of the noise signal on the control system, the controller adopts a PI algorithm, and the PI algorithm can cause the phase of the control system to further lag, so the stability margin of the control system is lower.
The wind driven generator rotation speed measurement has strong interference, decoding errors can occur in the decoding process of the encoder, harmonic interference and electromagnetic radiation generated by power electronic equipment can cause rotation speed measurement noise, the generator rotation speed differential calculation is sensitive to the measurement noise, and due to the fact that the wind driven generator adopts a PI control algorithm, the controller lacks a differential link, the stability margin of a variable-pitch stable-speed control system of the wind driven generator is smaller, and when the wind power fluctuates, the rotation speed and the electric energy output of the wind driven generator are extremely easy to fluctuate severely. When the fluctuation peak value of the rotating speed exceeds the upper limit of the rotating speed, the overspeed fault is triggered, so that the shutdown phenomenon is caused, and the generating capacity is influenced.
Disclosure of Invention
The invention aims to provide a variable pitch stable rotating speed control system and a control method for a wind turbine, which form a complete PID algorithm by combining a PI control algorithm, so that the stability margin of the wind turbine control system is increased, when the wind speed of a wind power plant greatly fluctuates, the rotating speed of the wind turbine is more stable, the electric energy output of the wind turbine is more stable, the occurrence times of overspeed faults can be reduced, and the normal running time and annual generating capacity are increased.
In order to solve the above technical problems, a first aspect of an embodiment of the present invention provides a system for controlling a pitch-regulated rotational speed of a wind turbine, including: the system comprises an encoder module, a Kalman filter, a nonlinear differential tracker, a comparator, a PID controller and a wind torque estimation module;
the encoder module obtains a rotating speed signal of the generator and sends the rotating speed signal to the Kalman filter;
the Kalman filter also receives the electromagnetic torque of the generator and the wind torque estimated value of the wind torque estimated module, filters the rotating speed signal, and sends the rotating speed signal after filtering to the nonlinear differential tracker;
the nonlinear differential tracker filters the filtered rotation speed signal again to obtain a rotation speed signal feedback value and sends the rotation speed signal feedback value to the comparator;
the comparator compares the rotating speed signal feedback value with a rotating speed preset value to obtain the rotating speed error value and sends the rotating speed error value to the PID controller;
the PID controller receives a rotational speed differential signal sent by the nonlinear differential tracker, and sends a variable pitch control instruction of the wind wheel according to the rotational speed error value to a variable pitch control system of the wind turbine;
the wind moment estimation module calculates the wind moment estimation value according to the pitch control command, the pitch angle feedback value and the wind moment detection value of the wind wheel.
Further, the calculation formula of the wind moment estimated value is as follows:
T w ＝kθ+b；
wherein θ is a pitch angle, k is a first parameter identified online by a weighted least square method, and b is a second parameter identified online by the weighted least square method.
Further, the calculation formula of the weighted least square method for online identification of the first parameter k and the weighted least square method for online identification of the second parameter b is as follows:
Y＝[T w (n),T w (n-1),…T w (n-m)] T ；
wherein T is w And (n) is a detection value of wind moment in the nth sampling period, θ (n) is a feedback value of pitch angle in the nth rotating speed sampling period, and m can be any integer between 2 and 6.
Further, the Kalman filter calculates the prior estimated value of the state x in the current sampling period according to the estimated value of the driving moment in the previous sampling period
The variance calculation method of the error is as follows: />
Wherein P, Q is excitation noise variance and measurement noise variance, respectively,)>
Error variance of->
Then calculating the filter output according to the generator rotation speed input value z>
The Kalman filter output
The variance of the error is:
further, the function of the nonlinear differential tracker is:
wherein h is the sampling period of the rotation speed of the generator, and x is 1 (k) For the rotation speed value, x after the nonlinear differential tracker filters 2 (k) And calculating differential values of the obtained rotating speeds for the nonlinear differential tracker.
Further, the output function of the PID controller is as follows:
wherein e (k) =v s -x 1 (k)，v s For the rotation speed reference value of the generator, P P For the proportional coefficient of the PID controller, P I Integrating the coefficients, P, for the PID controller D Differential coefficient, x, of the PID controller 1 (k) For the rotational speed feedback signal of the generator, x 2 (k) Is an approximation of the true rotational speed differential signal.
Correspondingly, a second aspect of the embodiment of the invention provides a control method of a variable pitch stable rotation speed control system of a wind turbine, comprising the following steps:
acquiring a generator rotating speed signal through an encoder module and sending the generator rotating speed signal to a Kalman filter;
receiving the electromagnetic torque value and the wind torque estimated value of the generator based on the Kalman filter, filtering the electromagnetic torque value and the wind torque estimated value, and sending the electromagnetic torque value and the wind torque estimated value to a nonlinear differential tracker;
the nonlinear differential tracker is used for filtering and calculating again to obtain a rotating speed signal feedback value and transmitting the rotating speed signal feedback value to a comparator;
comparing the rotation speed error value with a rotation speed preset value through the comparator to obtain a rotation speed error value, and sending the rotation speed error value to a PID controller;
and receiving a rotational speed differential signal based on the PID controller, and sending a variable pitch control instruction of the wind wheel to a variable pitch control system of the wind turbine according to the rotational speed signal error value.
The technical scheme provided by the embodiment of the invention has the following beneficial technical effects:
through combining a PI control algorithm, a complete PID algorithm is formed, so that the stability margin of a wind driven generator control system is increased, when the wind speed of a wind power plant greatly fluctuates, the rotating speed of the wind driven generator is more stable, the electric energy output of the wind driven generator is more stable, the occurrence frequency of overspeed faults can be reduced, and the normal running time and annual energy generation capacity are increased.
Drawings
FIG. 1 is a schematic diagram of a variable pitch steady rotation speed control system of a wind turbine generator in the prior art;
fig. 2 is a schematic diagram of a variable pitch and steady rotation speed control system of a wind turbine generator provided by an embodiment of the invention.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 2, a first aspect of an embodiment of the present invention provides a variable pitch and steady rotation speed control system for a wind turbine, including: the system comprises an encoder module, a Kalman filter, a nonlinear differential tracker, a comparator, a PID controller and a wind torque estimation module. The encoder module obtains a rotating speed signal of the generator and sends the rotating speed signal to the Kalman filter; the Kalman filter also receives the electromagnetic torque value of the generator and the wind torque estimated value of the wind torque estimation module, performs filtering treatment, and sends the filtered rotating speed signal to the nonlinear differential tracker; the nonlinear differential tracker filters the filtered rotation speed signal again to obtain a rotation speed signal feedback value and sends the rotation speed signal feedback value to the comparator; the comparator compares the rotating speed signal feedback value with a rotating speed preset value to obtain a rotating speed error value and sends the rotating speed error value to the PID controller; the PID controller receives a rotational speed differential signal sent by the nonlinear differential tracker, and sends a variable pitch control instruction of the wind wheel according to a rotational speed error value to a variable pitch control system of the wind turbine; the wind moment estimation module calculates a wind moment estimation value according to the pitch control command, the pitch angle sampling value and the wind moment detection value of the wind wheel.
The variable pitch steady rotation speed control system of the wind turbine adopts a Kalman filter to replace a common linear filter, takes the wind torque estimated value and the electromagnetic torque of the generator as the input of the Kalman filter except the rotation speed signal output by the encoder, outputs the rotation speed signal output by the Kalman filter to a nonlinear differential tracker, and the nonlinear differential tracker further filters the rotation speed signal, extracts the rotation speed differential signal and then sends the rotation speed differential signal to a PID controller to execute complete PID control operation.
Specifically, the wind moment in the invention refers to the rotation moment generated by wind to the wind wheel, the sampling period of the wind driven generator control system can reach 0.01 second, and the wind speed and the generator rotating speed in two adjacent sampling periods are approximately equal. On the premise that the wind speed and the generator rotating speed are unchanged in two adjacent periods, the linearization function relation between the wind moment and the pitch angle theta can be obtained. The calculation formula of the wind moment estimated value is as follows:
T w ＝kθ+b；
wherein θ is a pitch angle, k is a first parameter identified online by a weighted least squares method, and b is a second parameter identified online by a weighted least squares method.
Online identification of first by weighted least squaresAnd the parameter k and the second parameter b, and then predicting the wind torque Tw according to the pitch angle command. According to the wind wheel rotating speed sensor, the wind wheel rotating speed acceleration a and the wind wheel rotating speed omega can be measured, the electromagnetic torque of the generator is equivalent to the wind wheel side to obtain wind wheel resistance moment Te, zeta is the wind wheel moment of inertia, and the wind moment measurement value T is w ＝T e +ζa+μ r Omega. Parameter mu r Is the corresponding moment loss coefficient when the wind wheel rotates.
Further, the calculation formula of the first parameter k and the second parameter b are identified online by the weighted least square method is as follows:
Y＝[T w (n),T w (n-1),…T w (n-m)] T ； (2)
wherein T is w And (n) is a detection value of wind moment in the nth rotation speed sampling period, θ (n) is a feedback value of pitch angle in the nth rotation speed sampling period, and m can be any integer from 2 to 6.
And in each sampling period, identifying a first parameter k and a second parameter b by using a weighted least square method according to the wind moment measured value, and then estimating the wind moment Tw of the wind wheel according to the pitch angle instruction.
Specifically, generator drive torque u=t wh -(T e +μω),T wh Is equivalent to wind torque of the generator side, mu is friction loss corresponding to the rotation speed of the generator, omega is the rotation speed of the generator, and K is the reduction ratio of the gearbox
Furthermore, the general filtering algorithm can lead to signal phase lag, so that the stability of the control system is reduced, and the Kalman filter phase lag is smaller, thereby being beneficial to the stability of the control system. The following is a Kalman filter using method in a variable pitch steady speed control system:
the generator state equation is as follows:
where x (k) is the rotational speed of the generator for the kth sampling period and ζ is the sum of the rotational inertia of the rotor of the generator and the high speed shaft of the gearbox. Let μ be the coefficient of friction loss corresponding to the generator speed, T be the sampling period, u be the generator drive torque, then u=t wh -(T e +μx); i.e. the driving moment of the generator is equivalent to the driving moment T on the generator shaft of the wind wheel wh And the difference value of the generator resistance moment, namely the sum of the electromagnetic moment and the friction moment, wherein w is excitation noise, the excitation noise is derived from the estimation error of the generator driving moment, and the variance of the excitation noise w is Q according to the online statistical result.
The observation equation is:
z(k)＝x(k)+v(k) (6)
wherein z (k) is a sampling value of the rotation speed of the generator in the kth sampling period, namely the rotation speed corresponding to the output signal of the encoder, v is observation noise, and the observation noise variance R is obtained according to field test. And (3) filtering the generator rotating speed signal according to the state equation (3) and the observation equation (4) by combining a Kalman filtering formula. The method comprises the following specific steps:
initializing: p=0, x=z (0)
The first step, ignoring excitation noise, calculating the prior estimated value of the current period state x by using a state equation (3) according to the estimated value u of the previous period driving moment
This estimate will have errors, let ∈>
Error variance of->
The variance of the error is calculated as follows: />
A second step of calculating a filter output based on the filter speed input value z and the first step state estimation value x
Updating filter output
Error variance->
Performing the first and second steps in one pass per sampling period results in a filtered value of generator speed.
Noise interference in the signal of the rotating speed of the generator is weakened after the rotating speed signal of the generator is filtered by a Kalman filter.
Specifically, the generator rotating speed signal is filtered by a Kalman filter, and then a differential tracker can be directly used for extracting a differential signal of the generator rotating speed. The nonlinear differential tracker is calculated as follows
H in the middleA motor rotation speed adoption period, h 0 Value 1.5, r value 2, v (t) is the rotation speed signal input by the nonlinear tracker, x 1 ,x 2 The non-difference is the rotation speed value and the differential value of the rotation speed after the nonlinear differential tracker filters. The variable fh is calculated as follows:
fsg(x,d)＝[sign(x+d)-sign(x-d)]/2
d＝rh 0 2
a 0 ＝h 0 x 2
y＝x 1 +a 0
a 2 ＝a 0 +sign(y)(a 1 -d)/2
a＝(a 0 +y)fsg(y,d)+a 2 [1-fsg(y,d)]
in which sign () is a sign function, i.e
The rotation speed signal of the generator is processed by a nonlinear differential tracker to obtain a rotation speed filtering value x 1 Noise interference in the generator rotational speed signal is further reduced, and an approximation x of the true rotational speed signal derivative is obtained 2 。
Specifically, the output function of the PID controller is:
wherein e (k) =v s -x 1 (k) I.e. the output value of the comparator, v s Is the rotation speed reference value of the generator, P P For proportional coefficient of PID controller, P I Integrating coefficients for a PID controller，P D Differential coefficient of PID controller, x 1 (k) Is the rotating speed feedback signal of the generator, x 2 (k) Is an approximation of the true rotational speed differential signal.
The above formula is a complete PID control algorithm, and the controller can show the super front or hysteresis property by adjusting PID parameters, so that conditions are provided for improving the stability margin of the variable pitch stable speed control system.
Because the differential extraction process of the current wind driven generator control strategy is too sensitive to noise interference in the wind driven generator rotating speed signal, the current variable pitch speed controller abandons differential operation and only adopts the PI part of the PID controller algorithm, thereby leading to smaller stability margin of the control system. According to the invention, the Kalman filtering algorithm is used for reducing noise interference in the rotating speed signal of the generator, then the nonlinear differential tracker is used for further reducing noise interference, the differential value close to the real signal is extracted from the noise interference, and the differential signal and the rotating speed filtering signal extracted by the nonlinear differential tracker can form a complete PID controller, so that conditions are provided for improving the stability margin of the variable pitch steady speed control system.
Correspondingly, a second aspect of the embodiment of the invention provides a variable pitch stable rotation speed control method for a wind turbine, comprising the following steps:
acquiring a generator rotating speed signal through an encoder module and sending the generator rotating speed signal to a Kalman filter;
receiving the electromagnetic torque value and the wind torque estimated value of the generator based on the Kalman filter, filtering the electromagnetic torque value and the wind torque estimated value, and sending the electromagnetic torque value and the wind torque estimated value to a nonlinear differential tracker;
the nonlinear differential tracker is used for filtering and calculating again to obtain a rotating speed signal feedback value and transmitting the rotating speed signal feedback value to a comparator;
comparing the rotation speed error value with a rotation speed preset value through the comparator to obtain a rotation speed error value, and sending the rotation speed error value to a PID controller;
and receiving a rotational speed differential signal based on the PID controller, and sending a variable pitch control instruction of the wind wheel to a variable pitch control system of the wind turbine according to the rotational speed signal error value.
The embodiment of the invention aims to protect a variable pitch stable rotation speed control system and a control method of a wind turbine, wherein the control system comprises the following steps: the system comprises an encoder module, a Kalman filter, a nonlinear differential tracker, a comparator, a PID controller and a wind torque estimation module; the encoder module obtains a rotating speed signal of the generator and sends the rotating speed signal to the Kalman filter; the Kalman filter also receives the electromagnetic torque value of the generator and the wind torque estimated value of the wind torque estimation module, performs filtering treatment, and sends the filtered rotating speed signal to the nonlinear differential tracker; the nonlinear differential tracker carries out secondary filtering on the filtered rotating speed signal to obtain a rotating speed signal feedback value and sends the rotating speed signal feedback value to the comparator; the comparator compares the rotating speed signal feedback value with a rotating speed preset value to obtain a rotating speed error value and sends the rotating speed error value to the PID controller; the PID controller receives a rotational speed differential signal sent by the nonlinear differential tracker, and sends a variable pitch control instruction of the wind wheel according to a rotational speed error value to a variable pitch control system of the wind turbine; the wind moment estimation module calculates a wind moment estimation value according to the pitch control command, the pitch angle feedback value and the wind moment detection value of the wind wheel. The technical scheme has the following effects:
through combining a PI control algorithm, a complete PID algorithm is formed, so that the stability margin of a wind driven generator control system is increased, when the wind speed of a wind power plant greatly fluctuates, the rotating speed of the wind driven generator is more stable, the electric energy output of the wind driven generator is more stable, the occurrence frequency of overspeed faults can be reduced, and the normal running time and annual energy generation capacity are increased.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention should be included in the scope of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the scope and boundary of the appended claims, or equivalents of such scope and boundary.
Claims (5)
1. The utility model provides a wind turbine generator system becomes oar steady rotational speed control system which characterized in that includes: the system comprises an encoder module, a Kalman filter, a nonlinear differential tracker, a comparator, a PID controller and a wind torque estimation module;
the encoder module obtains a rotating speed signal of the generator and sends the rotating speed signal to the Kalman filter;
the Kalman filter also receives an electromagnetic torque feedback value of the generator and a wind torque estimated value of the wind torque estimated module, performs filtering processing, and sends the rotation speed signal after filtering to the nonlinear differential tracker;
the nonlinear differential tracker filters the filtered rotation speed signal again to obtain a rotation speed signal feedback value and sends the rotation speed signal feedback value to the comparator;
the comparator compares the rotating speed signal feedback value with a rotating speed preset value to obtain the rotating speed error value and sends the rotating speed error value to the PID controller;
the PID controller receives a rotational speed differential signal sent by the nonlinear differential tracker, and sends a variable pitch control instruction of the wind wheel according to the rotational speed error value to a variable pitch control system of the wind turbine;
the wind moment estimation module calculates the wind moment estimation value according to the pitch control instruction, the pitch angle feedback value and the wind moment detection value of the wind wheel;
the function of the nonlinear differential tracker is:
wherein h is the sampling period of the rotation speed v (t) of the generator, and x is 1 (k) For the rotation speed value, x after the nonlinear differential tracker filters 2 (k) A rotational speed differential value calculated for the nonlinear differential tracker;
the output function of the PID controller is as follows:
wherein e (k) =v s -x 1 (k) I.e. rotational speed error value, v s For the rotation speed reference value of the generator, P P For the proportional coefficient of the PID controller, P I Integrating the coefficients, P, for the PID controller D Differential coefficient, x, of the PID controller 1 (k) For the rotational speed feedback signal of the generator, x 2 (k) Is an approximation of the true rotational speed differential signal.
2. The wind turbine generator system pitch-regulated speed control system of claim 1, wherein,
the calculation formula of the wind moment estimated value is as follows:
T w ＝kθ+b；
wherein θ is a pitch angle, k is a first parameter identified online by a weighted least square method, and b is a second parameter identified online by the weighted least square method.
3. The wind turbine generator system pitch-regulated speed control system according to claim 2, wherein,
the calculation formula of the weighted least square method for on-line identification of the first parameter k and the weighted least square method for on-line identification of the second parameter b is as follows:
Y＝[T w (n),T w (n-1),…T w (n-m)] T ；
wherein T is w And (n) is a detection value of wind moment in the nth sampling period, θ (n) is a feedback value of pitch angle in the nth rotating speed sampling period, and m can be any integer from 2 to 6.
4. The wind turbine generator system pitch-regulated speed control system of claim 1, wherein,
the Kalman filter calculates the prior estimation of the state x in the current sampling period according to the driving moment estimation value of the previous sampling period
The variance calculation method of the error is as follows: />
Then calculating the filter output according to the measured value z of the generator rotation speed>
The Kalman filter output
The variance of the error is:
5. a control method of a variable pitch and steady rotation speed control system of a wind turbine, which is characterized by being used for controlling the variable pitch and steady rotation speed control system of the wind turbine according to any one of claims 1-4, comprising the following steps:
acquiring a generator rotating speed signal through an encoder module and sending the generator rotating speed signal to a Kalman filter;
receiving the electromagnetic torque value and the wind torque estimated value of the generator based on the Kalman filter, filtering the electromagnetic torque value and the wind torque estimated value, and sending the electromagnetic torque value and the wind torque estimated value to a nonlinear differential tracker;
the nonlinear differential tracker is used for filtering and calculating again to obtain a rotating speed signal feedback value and transmitting the rotating speed signal feedback value to a comparator;
comparing the rotation speed error value with a rotation speed preset value through the comparator to obtain a rotation speed error value, and sending the rotation speed error value to a PID controller;
and receiving a rotational speed differential signal based on the PID controller, and sending a variable pitch control instruction of the wind wheel to a variable pitch control system of the wind turbine according to the rotational speed signal error value.
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| CN107975457A (en) * | 2017-11-17 | 2018-05-01 | 重庆邮电大学 | A kind of Wind turbines pitch control method for suppressing fluctuations in wind speed interference |
| CN108488036A (en) * | 2018-05-04 | 2018-09-04 | 曲阜师范大学 | Wind-powered electricity generation magnetic suspension yaw system suspension control method based on model mismatch compensator |
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