CN116447078B - Control method for on-line adjustment of cabin suspension transient performance by closed-loop information asymmetric constraint - Google Patents
Control method for on-line adjustment of cabin suspension transient performance by closed-loop information asymmetric constraint Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 97
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- 230000001360 synchronised effect Effects 0.000 claims description 13
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- 230000005284 excitation Effects 0.000 claims description 3
- 238000009472 formulation Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 238000004088 simulation Methods 0.000 description 22
- 230000000694 effects Effects 0.000 description 12
- 238000005339 levitation Methods 0.000 description 9
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- 230000000052 comparative effect Effects 0.000 description 4
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/04—Automatic control; Regulation
- 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
- F03D7/045—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with model-based controls
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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
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention relates to a control method for adjusting cabin suspension transient performance on line by closed-loop information asymmetric constraint, and belongs to the technical field of automation. According to the method, state constraint is carried out on a system with sharp working condition change, an asymmetric obstacle Lyapunov function is designed, closed loop feedback information is introduced into the design of constraint functions, a smooth asymmetric constraint function containing the closed loop feedback information is designed, system input is obtained based on reconstruction errors of the obstacle Lyapunov function, a two-degree-of-freedom model of a wind turbine suspension system is established, and a limited time suspension tracking controller and a limited time synchronization controller are designed. The invention can effectively inhibit the influence of external disturbance and parameter uncertainty on the system operation while ensuring the quick tracking capability of the system, can well consider transient and steady-state performances, and ensures that the engine room runs stably and reliably under the influence of external disturbance.
Description
Technical Field
The invention relates to a control method, in particular to a control method for on-line adjustment of cabin suspension transient performance by closed-loop information feedback asymmetric constraint which improves starting performance and transient performance of a nonlinear system and simultaneously constrains system state, and belongs to the technical field of automation.
Background
The magnetic levitation system is a nonlinear and weak damping unstable system in nature, and the wind power cabin magnetic levitation system works on a tower with the height of 80 meters, so that the levitation working condition is bad, the wind speed and the wind direction are time-varying, and the levitation control is very challenging. Because of the large windward area difference between the blade side and the tail wing side of the wind power engine room, the large pitching moment exists on the two sides of the engine room, the engine room is easy to topple, and the operation safety of the wind turbine generator is seriously affected. Particularly, mechanical impact is caused by too high speed in the process of falling and rising in the suspension process, and the service life of a magnetic suspension system is seriously influenced, so that the stable suspension of the cabin, synchronous control and the improvement of transient performance are important points of research. Compared with the PID control with self-adaptive compensation, the self-adaptive robust control strategy with synchronous compensation has faster dynamic response speed, smaller steady-state error and synchronous error. However, the control strategy does not effectively restrict the system state, and still has the problems of poor interference suppression capability, low dynamic response speed and the like, and cannot effectively cope with high-frequency disturbance and external interference existing in an actual system.
The virtual control variable based on the obstacle Lyapunov function method is adopted to realize constraint control on the suspension air gap and the synchronization error, so that the suspension air gap tracking error and the synchronization error are ensured to meet given transient performance indexes, good tracking performance and synchronization effect of the system are ensured, and when the system is disturbed, a larger control effect is generated, so that the system is restored to a stable running state. And as the structural model of the wind engine room suspension system shows that a large electromagnetic suction exists between the stator and the rotor, if the rotor cannot be restrained within a safety threshold, the rotor can be adsorbed on the stator at an extremely high speed, so that extremely large mechanical impact is generated, the mechanical structure of the suspension system is damaged, and the air gap restraining force between the stator and the rotor has a stronger effect. An asymmetric constraint obstacle Lyapunov function is designed for solving the problems of suspension fluctuation damage suspension acuity and reliability. Because the air gap has ripple waves when the nacelle is suspended, the traditional asymmetric constraint needs to be frequently switched, the calculated amount is too large, in order to avoid frequent switching of the system and reduce the burden of the system, the feedback information containing the closed loop state is introduced, the wind turbine suspension control containing the feedback asymmetric constraint obstacle Lyapunov function of the closed loop information is designed, and the convergence of the system in a limited time is ensured.
Disclosure of Invention
The main purpose of the invention is that: aiming at the blank and deficiency of the prior art, the invention provides a control method for adjusting the suspension transient performance of a cabin on line by closed-loop information asymmetric constraint. The method comprises the steps of constructing a wind power cabin suspension dynamic model, formulating an asymmetric constraint boundary function and designing an asymmetric obstacle Lyapunov function suspension controller; the wind power cabin suspension dynamic model construction is a two-degree-of-freedom cabin suspension model based on cabin center height and two-side pitching angles, the asymmetric constraint boundary function formulation aims at solving the problem of suspension fluctuation damage suspension acuity change, different constraint boundary functions are arranged on two sides of a suspension target, the constraint boundary functions are monotone change functions based on suspension state vector information, the ratio of the asymmetric constraint boundary functions to system tracking errors generates virtual variables, and cabin suspension position intervals are divided into steady-state operation areas and transient constraint areas based on the difference of the acuity of the virtual variables, wherein the steady-state operation areas approach the maximum allowable error range in the tracking errors, and the transient constraint areas are small tracking error operation areas; the asymmetric constraint boundary function comprises a starting boundary function and an anti-interference constraint boundary function, the starting boundary function is a monotonic function which gradually converges about time t and comprises parameters for specifying an initial constraint boundary, a convergence speed and a steady constraint boundary, and the anti-interference constraint boundary function is an s-shaped bounded smooth function taking tracking error as a parameter, and comprises two setting parameters, namely an asymmetric response adjustment coefficient and an asymmetric amplitude adjustment coefficient; the asymmetric obstacle Lyapunov function suspension controller is designed based on an asymmetric constraint obstacle Lyapunov function method, takes an axial height transformation error and a pitching angle transformation error as virtual control inputs, and is divided into a finite-time axial suspension controller and a finite-time synchronous controller, and the lumped disturbance is estimated based on a self-adaptive method of virtual control variables.
In order to achieve the above purpose, the control method for online adjustment of cabin levitation transient performance by closed-loop information asymmetric constraint comprises the following steps:
step 1, constructing a smooth asymmetric constraint boundary function containing closed-loop feedback information
A) Designing a start boundary function
Wherein c bi_0 ，c bi_∞ ，k i C is the normal number bi_0 Representing the initial value of the starting boundary function, c bi_∞ Representing a start boundary function convergence target, k i Specifying the convergence speed, as followsWith subscript i being 1 or 2.
B) In order to enable the constraint function to have the capability of on-line recognition of the working condition of the system, the constraint boundary is adjusted along with the working condition within a bounded range, the dynamic adjustment range of the sensitive area is designated, and the anti-interference constraint boundary function is designed as follows:
c t ＝ε i (1+exp(-α i e i )) -1 (2)
wherein ε i ，α i Is a normal number, ε i For the asymmetric amplitude adjustment coefficient, satisfy c bi_∞ -ε i ＞ρ ∞ Wherein ρ is ∞ Representing transient performance index, alpha i Adjusting coefficients for asymmetric response, e i Is the system tracking error.
C) Based on the starting boundary function and the anti-interference constraint boundary function, designing a smooth asymmetric constraint function containing closed-loop feedback information as follows:
step 2, establishing a two-degree-of-freedom cabin suspension model based on cabin center height and two-side pitching angles
Wherein H is the center suspension height, H A And H B Suspension heights of blade side and tail side respectively, L is the sum of suspension air gap and height, (L-H) A ) And (L-H) B ) Respectively a blade side suspension air gap and a tail wing side suspension air gap, wherein theta is a pitching angle mu 0 Is vacuum magnetic conductivity, N is number of turns of suspension windings on two sides, S is magnetic pole area, i A And i B Excitation currents on the blade side and the tail wing side respectively, wherein J is the pitching moment of inertia of the engine room, and T is r Is the nacelle overturning moment, r is the nacelle rotating radius, m is the wind turbine mass, g is the gravitational acceleration, f d For nacelle axial disturbances ΔH x ＝H x -H 0 ，Δi x ＝i x -i 0 Wherein x is A or B, i 0 And H 0 Target current and target air gap, (L-H) 0 ) For axially suspending the air gap.
Step 3, designing a smooth asymmetric constraint boundary function containing closed-loop feedback information in the axial direction and a smooth asymmetric constraint boundary function containing closed-loop feedback information in the pitching direction
A) The anti-interference constraint boundary function containing the axial air gap tracking error is constructed as follows:
b) When the suspension force floats against the gravity and static friction force of the cabin, because the structural parameters at the two ends of the cabin are different, the two ends of the cabin generate larger synchronous errors under the same control output effect, and in order to effectively solve the problem of the pitching of the cabin in the suspension process, an anti-interference constraint boundary function containing the synchronous errors of the pitching angles is constructed as follows:
step 4, designing an asymmetric obstacle Lyapunov function suspension controller by the following steps of
A) According to the characteristics of the Lyapunov function, reconstructing errors, and designing a virtual control law as follows:
will beUnfolding
Wherein:
b) Designing a finite time suspension controller based on an asymmetric barrier Lyapunov function containing an axial height tracking error:
the asymmetric constraint function is developed with respect to a time first derivative to be:
the second derivative is developed to obtain:
based on the method, a finite time control law of an asymmetric barrier Lyapunov function containing axial height tracking error is designed as follows:
the self-adaptive law is selected as follows:
wherein gamma is 1 ，β 1 ，Is a positive scalar, 0 < beta 1 ＜1，
C) Designing a finite time suspension controller based on an asymmetric barrier Lyapunov function containing a pitch angle synchronization error:
expanding the first derivative of the constraint function with respect to time may result in:
the second derivative is developed to obtain:
based on this, a finite time control law of asymmetric constraint containing pitch angle synchronization error is designed as follows:
the self-adaptive law is selected as follows:
wherein gamma is 2 ，β 2 ，Is a positive scalar, 0 < beta 2 ＜1，
The main control current of the blade side and the tail side can be obtained by the components (12) and (16)
The beneficial effects of the invention are as follows:
1) Aiming at the problems of suspension fluctuation damage suspension acuity and reliability, different constraint boundaries are arranged on two sides of a suspension target;
2) Based on the difference of the sensitivity of the virtual control variable relative to the system tracking error caused by the ratio change of the system tracking error to the asymmetric constraint boundary function, reasonably dividing the cabin suspension position interval into a steady-state operation area and a transient constraint area;
3) Lifting the constant constraint boundary into a dynamic constraint boundary function, and dynamically adjusting the constraint boundary along with the appointed performance;
4) The smooth asymmetric constraint boundary function designed in the control method has no singular problem in dynamic adjustment;
5) The designed starting constraint boundary function and anti-interference constraint boundary function give consideration to the starting performance and anti-interference performance of the system;
6) Based on a barrier Lyapunov function method, an axial height transformation error and a pitching angle transformation error are used as virtual control inputs, a virtual control variable is more sensitive to system state change, and when a system tracking error is impacted out of an allowable steady-state error zone by interference, a damping item reconstructed by a gradient of the dynamic performance optimization constraint function about an actual error and a gradient of the actual error about time can quickly inhibit interference, so that a controller can be ensured to act rapidly and forcefully;
7) And finally, the adaptive method containing fractional order based on the virtual control variable rapidly estimates disturbance, so that the tracking error of the system is converged for a limited time. The method has excellent robustness, and provides powerful guarantee for the wind turbine maglev system to cope with external high-frequency disturbance and uncertain items.
Drawings
FIG. 1 is a control block diagram of a horizontal axis wind turbine nacelle suspension system of the present invention.
FIG. 2 is a schematic diagram illustrating an analysis of the functional relationship of the asymmetric constraint boundary function of the present invention with respect to the tracking error of the system.
FIG. 3 is a schematic diagram illustrating analysis of the functional relationship of the virtual control variables with respect to the tracking error of the system according to the present invention.
FIG. 4 is a graph of air gap length versus axial disturbance applied by the nacelle under control of the present invention and under control of the comparison algorithm.
FIG. 5 is a graph of an experimental comparison of the air gap length of the nacelle applying pitch disturbance force under the control of the present invention and the control of the comparison algorithm.
FIG. 6 is a graph of a comparative experiment of the synchronization error of the nacelle applied pitch disturbance force under the control of the present invention and the control of the comparative algorithm.
FIG. 7 is a graph of a comparison of the gap length of a nacelle applying a periodic axial disturbance force under the control of the present invention and the control of the comparison algorithm.
FIG. 8 is a graph of a comparison of the gap length of a nacelle applying periodic pitch disturbance force under the control of the present invention and the control of the comparison algorithm.
FIG. 9 is a graph of a comparative experiment of the synchronous error of the periodic pitch disturbance applied to the nacelle under the control of the present invention and the control of the comparative algorithm.
Reference numerals in the drawings: 1-axial dynamic specified performance function, 2-axial reconfiguration error, 3-pitch dynamic specified performance function, 4-pitch reconfiguration error, 5-axial air gap, 6-pitch angle, 7-axial controller, 8-pitch controller, 9-current transformer, 10-axial finite time state observer, 11-pitch finite time state observer, 12-blade side current tracking controller, 13-tail side current tracking controller, 14-blade side levitation winding, 15-tail side levitation winding, 16-wind nacelle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the levitation electromagnet is comprised of windings 14, 15 and a core. When a voltage u (t) is applied to the windings 14 and 15, a current i flows through the windings 14 and 15 1 (t)、i 2 (t) the levitation electromagnet will generate electromagnetic attraction and the yaw stator will be attracted. In the floating process, after the windings 14 and 15 are electrified, the suspension electromagnet moves upwards under the action of electromagnetic attraction, and when interference is applied, u (t) is adjusted along with the change of a suspension air gap, so that i (t) is tracked and changed until stable suspension is achieved.
The invention relates to a control method for adjusting cabin suspension transient performance on line by closed loop information asymmetric constraint, which aims to constrain the suspension height and the pitching angle of a cabin suspension system so as to realize good starting performance and anti-interference performance, and specifically comprises the following steps:
step 1, constructing a smooth asymmetric constraint boundary function containing closed-loop feedback information
A) Designing a start boundary function
Wherein c bi_0 ，c bi_∞ ，k i C is the normal number bi_0 Representing the initial value of the starting boundary function, c bi_∞ Representing a start boundary function convergence target, k i The convergence speed is specified, and all subscripts i below are 1 or 2.
B) In order to enable the constraint function to have the capability of on-line recognition of the working condition of the system, the constraint boundary is adjusted along with the working condition within a bounded range, the dynamic adjustment range of the sensitive area is designated, and the anti-interference constraint boundary function is designed as follows:
c t ＝ε i (1+exp(-α i e i )) -1 (20)
wherein ε i ，α i Is a normal number, ε i For the asymmetric amplitude adjustment coefficient, satisfy c bi_∞ -ε i ＞ρ ∞ Wherein ρ is ∞ Representing transient performance index, alpha i Adjusting coefficients for asymmetric response, e i Is the system tracking error.
C) Based on the starting boundary function and the anti-interference constraint boundary function, designing a smooth asymmetric constraint function containing closed-loop feedback information as follows:
the asymmetric constraint boundary function is shown in figure 2, epsilon i Determining the degree of asymmetry of the asymmetric constraint boundary function c bi_∞ Representing the start boundary function convergence target.
Step 2, establishing a two-degree-of-freedom cabin suspension model based on cabin center height and two-side pitching angles
Wherein H is the center suspension height, H A And H B Suspension heights of blade side and tail side respectively, L is the sum of suspension air gap and height, (L-H) A ) And (L-H) B ) Respectively a blade side suspension air gap and a tail wing side suspension air gap, wherein theta is a pitching angle mu 0 Is vacuum magnetic conductivity, N is number of turns of suspension windings on two sides, S is magnetic pole area, i A And i B Excitation currents on the blade side and the tail wing side respectively, wherein J is the pitching moment of inertia of the engine room, and T is r Is the nacelle overturning moment, r is the nacelle rotating radius, m is the wind turbine mass, g is the gravitational acceleration, f d For nacelle axial disturbances ΔH x ＝H x -H 0 ，Δi x ＝i x -i 0 Wherein x is A or B, i 0 And H 0 Target current and target air gap, (L-H) 0 ) For axially suspending the air gap.
Step 3, designing a smooth asymmetric constraint boundary function containing closed-loop feedback information in the axial direction and a smooth asymmetric constraint boundary function containing closed-loop feedback information in the pitching direction
A) The anti-interference constraint boundary function containing the axial air gap tracking error is constructed as follows:
b) When the suspension force floats against the gravity and static friction force of the cabin, because the structural parameters at the two ends of the cabin are different, the two ends of the cabin generate larger synchronous errors under the same control output effect, and in order to effectively solve the problem of the pitching of the cabin in the suspension process, an anti-interference constraint boundary function containing the synchronous errors of the pitching angles is constructed as follows:
step 4, designing an asymmetric obstacle Lyapunov function suspension controller by the following steps of
A) According to the characteristics of the Lyapunov function, reconstructing errors, and designing a virtual control law as follows:
will beUnfolding
Wherein:
based on the asymmetric constraint boundary function, a functional relationship of the virtual control variable with respect to the system tracking error is obtained, as shown in fig. 3. Wherein e ss C is a steady state performance index ∞ Constraint boundaries for a specified performance index; the system working area can be divided into a steady-state operation area I and a transient constraint area II.
B) Designing a finite time suspension controller based on an asymmetric barrier Lyapunov function containing an axial height tracking error:
the asymmetric constraint function is developed with respect to a time first derivative to be:
the second derivative is developed to obtain:
based on the method, a finite time control law of an asymmetric barrier Lyapunov function containing axial height tracking error is designed as follows:
the self-adaptive law is selected as follows:
wherein gamma is 1 ，β 1 ，Is a positive scalar, 0 < beta 1 ＜1，
C) Designing a finite time suspension controller based on an asymmetric barrier Lyapunov function containing a pitch angle synchronization error:
expanding the first derivative of the constraint function with respect to time may result in:
the second derivative is developed to obtain:
based on this, a finite time control law of asymmetric constraint containing pitch angle synchronization error is designed as follows:
the self-adaptive law is selected as follows:
wherein gamma is 2 ，β 2 ，Is a positive scalar, 0 < beta 2 ＜1，
The main control current of the blade side and the tail side can be obtained by the components (30), (34)
The invention is further illustrated by the following preferred embodiment.
Example 1: the system parameters of the magnetic suspension system are as follows: effective area s= 235050mm of pole surface of suspension electromagnet 2 The total mass m of the suspension body is=500 kg, the number of turns of the exciting coil of the suspension electromagnet is n=6400 turns, the resistance R of the exciting coil is 4.4θ, and the vacuum magnetic permeability mu is high 0 ＝4π×10 -7 H/m; suspension electromagnet height H when stabilizing suspension equilibrium point 0 Suspension electromagnet height H at rest position =0.013 m 1 ＝0.009m。
Based on the above system parameters, system simulation conditions: (1) simulation experiment of axial interference resistance: the running time is t=0-15 s, and the expected track tracking function of the process is selected as H ref (t) =0.013, and 1000N axial interferences were added at t=5 s, and interferences were removed at t=10 s; (2) anti-pitch interference simulation experiment: the running time is t=0-15 s, and the expected track tracking function of the process is selected as H ref (t) =0.013, 1000N pitch disturbances are added at t=5 s, and the disturbances are removed at t=15 s. (3) axial sinusoidal interference resistance experiment: the running time is t=0-15 s, and the expected track tracking function of the process is selected as H ref (t) =0.013, 1500 x sin (100 t) N axial interference was added at t=5 s, and interference was removed at t=15 s. (4) pitch sinusoidal disturbance resisting experiment: the running time is t=0-15 s, and the expected track tracking function of the process is selected as H ref (t) =0.013, 1500 x sin (100 t) N pitch disturbances are added at t=5 s, and the disturbances are removed at t=15 s.
And simulating the system according to the simulation conditions, so as to verify the anti-interference capability of the system to external disturbance at the moment of operation, as shown in figures 4, 5, 6, 7 and 8.
FIG. 4 shows a simulation curve of a track tracking suspension air gap in an anti-axial interference 1000N simulation experiment, wherein the simulation effects of two types of algorithms are distinguished linearly. As can be seen from the graph, when axial interference is applied, the maximum drop value of the air gap is only 0.005mm, and the recovery time is only 0.015s, so that the method has stronger anti-interference capability and quicker response speed compared with the traditional symmetrical obstacle Lyapunov function method.
FIG. 5 shows a simulation curve of synchronous errors in a 1000N simulation experiment of anti-pitch disturbance, wherein the simulation effects of two types of algorithms are distinguished linearly. As can be seen from the graph, when pitch interference is applied, the maximum rising of the air gap is only 0.007mm, the recovery time is only 0.015s, and the disturbance is removed basically without fluctuation, so that the method has stronger anti-interference capability and quicker response speed compared with the traditional symmetrical obstacle Lyapunov function.
FIG. 6 shows a simulation curve of synchronous errors in a 1000N simulation experiment of anti-pitch disturbance, wherein the simulation effects of two types of algorithms are distinguished linearly. As can be seen from the graph, when pitch interference is applied, the maximum synchronization error is only 0.015mm, the recovery time is only 0.008s, and compared with the traditional symmetrical obstacle Lyapunov function method, the method has a better synchronization effect.
FIG. 7 shows a simulation curve of a track tracking suspension air gap in an axial sinusoidal disturbance resisting simulation experiment, wherein the simulation effect of two types of algorithms is distinguished by a line type. As can be seen from the figure, the buffeting of the air gap is obviously smaller than that of the traditional symmetrical barrier Lyapunov function method when the axial sine interference is applied.
FIG. 8 shows a simulation curve of a track tracking suspension air gap in a simulation experiment of resisting pitch sinusoidal disturbance, wherein the simulation effect of two types of algorithms is distinguished by the line type. As can be seen from the figure, the buffeting of the air gap is obviously smaller than that of the traditional symmetrical barrier Lyapunov function method when the axial sine interference is applied.
FIG. 9 shows a simulation curve of a track tracking suspension air gap in a simulation experiment of resisting pitch sinusoidal interference, wherein the simulation effect of two types of algorithms is distinguished by the line type. As can be seen from the graph, when pitch disturbance is applied, the maximum synchronous error is only 0.025mm, the recovery time is only 0.008s, and buffeting is obviously smaller than that of the traditional symmetrical obstacle Lyapunov function method.
The results show that the control method of the invention can effectively inhibit the influence of external disturbance and parameter uncertainty on the system operation while ensuring the rapid tracking capability and stability of the system, has good robustness and ensures the stable and reliable operation of the magnetic suspension system.
Claims (1)
1. A control method for adjusting cabin suspension transient performance on line by closed-loop information asymmetric constraint is characterized by comprising the following steps: the method comprises the steps of constructing a wind power cabin suspension dynamic model, formulating an asymmetric constraint boundary function and designing an asymmetric obstacle Lyapunov function suspension controller; the wind power cabin suspension dynamic model construction is a two-degree-of-freedom cabin suspension model based on cabin center height and two-side pitching angles, the asymmetric constraint boundary function formulation is to cope with the suspension fluctuation damage suspension acuity change problem, different constraint boundary functions are arranged on two sides of a suspension target, the constraint boundary functions are monotone change functions based on suspension state vector information, and a virtual variable is generated by the ratio of the asymmetric constraint boundary functions to a system tracking error; the asymmetric constraint boundary function comprises a starting boundary function and an anti-interference constraint boundary function, the starting boundary function is a monotonic function which gradually converges about time t and comprises parameters for specifying an initial constraint boundary, a convergence speed and a steady constraint boundary, and the anti-interference constraint boundary function is an s-shaped bounded smooth function taking tracking error as a parameter, and comprises two setting parameters, namely an asymmetric response adjustment coefficient and an asymmetric amplitude adjustment coefficient; the asymmetric obstacle Lyapunov function suspension controller is designed based on an asymmetric constraint obstacle Lyapunov function method, takes an axial height transformation error and a pitching angle transformation error as virtual control inputs, is divided into a finite-time axial suspension controller and a finite-time synchronous controller, estimates lumped disturbance based on a self-adaptive method of virtual control variables, and comprises the following steps:
step 1, constructing a smooth asymmetric constraint boundary function containing closed-loop feedback information
A) Designing a start boundary function
Wherein c bi_0 ，c bi_∞ ，k i C is the normal number bi_0 Representing the initial value of the starting boundary function, c bi_∞ Representing a start boundary function convergence target, k i Designating a convergence speed, all subscripts i below being 1 or 2;
b) In order to enable the constraint function to have the capability of on-line recognition of the working condition of the system, the constraint boundary is adjusted along with the working condition within a bounded range, the dynamic adjustment range of the sensitive area is designated, and the anti-interference constraint boundary function is designed as follows:
c t ＝ε i (1+exp(-α i e i )) -1 (2)
wherein ε i ，α i Is a normal number, ε i For the asymmetric amplitude adjustment coefficient, satisfy c bi_∞ -ε i ＞ρ ∞ Which is provided withMiddle ρ ∞ Representing transient performance index, alpha i Adjusting coefficients for asymmetric response, e i Is a system tracking error;
c) Based on the starting boundary function and the anti-interference constraint boundary function, designing a smooth asymmetric constraint function containing closed-loop feedback information as follows:
step 2, establishing a two-degree-of-freedom cabin suspension model based on cabin center height and two-side pitching angles
Wherein H is the center suspension height, H A And H B Suspension heights of blade side and tail side respectively, L is the sum of suspension air gap and height, (L-H) A ) And (L-H) B ) Respectively a blade side suspension air gap and a tail wing side suspension air gap, wherein theta is a pitching angle mu 0 Is vacuum magnetic conductivity, N is number of turns of suspension windings on two sides, S is magnetic pole area, i A And i B Excitation currents on the blade side and the tail wing side respectively, wherein J is the pitching moment of inertia of the engine room, and T is r Is the nacelle overturning moment, r is the nacelle rotating radius, m is the wind turbine mass, g is the gravitational acceleration, f d For nacelle axial disturbances ΔH x ＝H x -H 0 ，Δi x ＝i x -i 0 Wherein x is A or B, i 0 And H 0 Target current and target air gap, (L-H) 0 ) Is an axial suspension air gap;
step 3, designing a smooth asymmetric constraint boundary function containing closed-loop feedback information in the axial direction and a smooth asymmetric constraint boundary function containing closed-loop feedback information in the pitching direction
A) The anti-interference constraint boundary function containing the axial air gap tracking error is constructed as follows:
b) The construction of the anti-interference constraint boundary function containing the pitching angle synchronization error is as follows:
step 4, designing an asymmetric obstacle Lyapunov function suspension controller, wherein the step A) reconstructs an error according to the characteristics of the obstacle Lyapunov function, and designs a virtual control law as follows:
will beUnfolding
Wherein:
b) Designing a finite time suspension controller based on an asymmetric barrier Lyapunov function containing an axial height tracking error:
the asymmetric constraint function is developed with respect to a time first derivative to be:
the second derivative is developed to obtain:
based on the method, a finite time control law of an asymmetric barrier Lyapunov function containing axial height tracking error is designed as follows:
the self-adaptive law is selected as follows:
wherein gamma is 1 ，β 1 ，Is a positive scalar, 0 < beta 1 ＜1，a 10 ＝μ 0 N 2 Si 0 2 /(2m(L-H 0 ) 3 ）,b 10 ＝μ 0 N 2 Si 0 /(2m(L-H 0 ） 2 ），/>
C) Designing a finite time suspension controller based on an asymmetric barrier Lyapunov function containing a pitch angle synchronization error:
expanding the first derivative of the constraint function with respect to time may result in:
the second derivative is developed to obtain:
based on this, a finite time control law of asymmetric constraint containing pitch angle synchronization error is designed as follows:
the self-adaptive law is selected as follows:
wherein gamma is 2 ，β 2 ，Is a positive scalar, 0 < beta 2 ＜1，a 20 ＝μ 0 N 2 Si 0 2 /(2m(L-H 0 ) 3 ),b 20 ＝μ 0 N 2 Si 0 /(2m(L-H 0 ) 2 )，/>
The main control current of the blade side and the tail side can be obtained by the components (12) and (16)
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