KR101634165B1 - Disturbance observer based speed controller for dual generator type wind turbine and operating method thereof - Google Patents

Abstract

A disturbance observer-based speed controller and its operating method of a parallel wind turbine according to the present invention is disclosed. The disturbance observer-based speed controller according to the present invention includes an electric system for outputting the applied torque of the first generator and the applied torque of the second generator based on the current control command value of the first generator and the current control command value of the second generator, A mechanical system for outputting a rotational speed of the first generator and a rotational speed of the second generator based on the input torque of the first generator and the applied torque of the second generator; And a disturbance observer for outputting the output values of the first generator and the second generator based on the rotation speeds of the first generator and the second generator and the current control command values of the first generator and the second generator, Wherein the current control command value of the first generator and the current control command value of the second generator are set such that the output value of the speed controller of the first generator, the output value of the speed controller of the second generator and the output value of the disturbance observer of the first generator, And the difference value between the output values of the output values.

Description

TECHNICAL FIELD [0001] The present invention relates to a speed controller based on a disturbance observer of a parallel type wind turbine, and a method of operating the same. [0002] DISTURBANCE OBSERVER BASED SPEED CONTROLLER FOR DUAL GENERATOR TYPE WIND TURBINE AND OPERATING METHOD THEREOF [

The present invention relates to a disturbance observer-based speed controller design and operation method of a parallel type wind turbine.

A wind turbine is a device that converts the kinetic energy of the wind into electric energy. The wind turbine is divided into a horizontal axis wind turbine (HAWT) and a vertical axis wind turbine according to the direction of the rotation axis of the wind turbine.

Recently, there has been proposed a new type of horizontal parallel type wind turbine considering the advantages and disadvantages of such a vertical type wind power generator and a horizontal type wind power generator. Horizontal parallel type wind turbine is composed of bevel gear and hollow shaft in nacelle, unlike conventional horizontal type wind turbine, and two generators can be installed on the ground like vertical type wind turbine to solve transmission line twist. The power generated by the rotor is transferred to the ground generators through two bevel gears installed horizontally and horizontally and a hollow shaft installed vertically.

However, the roll axis, which means the rotor axis, which is the rotation axis of the blade of the parallel wind turbine, and the yaw axis, which means the rotation axis of the nucelle, are coupled to each other and are influenced by each other. The effect, like disturbance, has a bad influence on controlling speed.

Patent Registration No. 10-1377818, March 26, 2014. Announcement

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a disturbance observer in which a rotational speed of a first generator and a second generator, A velocity controller based on a disturbance observer of a parallel type wind power generator that controls a roll axis rotation speed and a yaw axis rotation speed by using an instruction value, and a method of operating the same.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above objects, a disturbance observer-based speed controller according to an aspect of the present invention includes a speed controller for controlling a disturbance observer based on a current control command value of a first generator and a current control command value of a second generator, An electric system for outputting an applied torque of the electric motor; A mechanical system for outputting a rotational speed of the first generator and a rotational speed of the second generator based on the input torque of the first generator and the applied torque of the second generator; And a disturbance observer for outputting the output values of the first generator and the second generator based on the rotation speeds of the first generator and the second generator and the current control command values of the first generator and the second generator, Wherein the current control command value of the first generator and the current control command value of the second generator are set such that the output value of the speed controller of the first generator, the output value of the speed controller of the second generator and the output value of the disturbance observer of the first generator, And the difference value between the output values of the output values.

Preferably, the electric system multiplies the current control command value of the first generator and the current control command value of the second generator by a torque constant, and as a result multiplies the applied torque of the first generator and the applied torque of the second generator .

Preferably, the mechanical system generates a roll shaft torque and a yaw axis torque based on the input applied torque of the first generator and the applied torque of the second generator, and rotates the roll shaft based on the generated roll shaft torque and the yaw axis torque And generates a rotation speed of the first generator and a rotation speed of the second generator on the basis of the generated roll axis rotation speed and the yaw axis rotation speed.

을 이용하여 롤축 토크 τ_r와 요축 토크 τ_y를 생성하되, 여기서, 상기 τ_T는 제1 발전기의 인가 토크, 상기 τ_B는 제2 발전기의 인가 토크, 상기 ρ는 기어비를 나타내는 것을 특징으로 한다.Advantageously, said mechanical system further comprises:

, Wherein τ _T is an applied torque of the first generator, τ _B is an applied torque of the second generator, and ρ is a gear ratio, by using the torque command τ _r and the yaw axis torque τ _y .

을 이용하여 롤축 회전 속도 ω_r와 요축 회전 속도 ω_y를 생성하되, 여기서, τ_F, τ_R는 바람에 의해서 터빈에 인가 되는 토크,

는 롤축과 요축에 인가 되는 외란 토크, τ_r, τ_y는롤축과 요축에 인가하는 발전기의 토크, J_rr, b_rr는 롤축의 관성 모멘트와 마찰 계수, J_yy, b_yy는 요축의 관성 모멘트와 마찰 계수, J_ry, b_ry는 요축 회전으로 인하여 발생하는 롤축 관성 모멘트와 마찰 계수, J_yr, b_yr는 롤축 회전으로 인하여 발생하는 요축 관성 모멘트와 마찰 계수를 나타내는 것을 특징으로 한다.Advantageously, said mechanical system further comprises:

The use to produce a roll, but the rotation speed ω _r and a yaw axis rotation rate ω _y, where, τ _F, τ _R is the torque applied to the turbine by the wind,

Τ _r and τ _y are the torques of the generators applied to the roll axis and the yaw axis, J _rr and b _rr are the inertial moment and friction coefficient of the roll axis, and J _yy and b _yy are the moments of inertia of the yaw axis J _ry and b _ry are the roll axis moment of inertia and frictional coefficient due to the yaw axis rotation, and J _yr and b _yr are the yaw axis inertia moment and friction coefficient caused by roll axis rotation.

을 이용하여 제1 발전기의 회전속도 ω_T와 제2 발전기의 회전속도 ω_B를 생성하는 것을 특징으로 한다.Advantageously, said mechanical system further comprises:

The rotation speed? _T of the first generator and the rotation speed? _B of the second generator are generated.

,

,

를 이용하여 제1 발전기의 외란 관측기의 출력값

와 제2 발전기의 외란 관측기의 출력값

를 생성하되, 여기서,

는 롤-요축과 제1 발전기와 제2 발전기 측 변수 사이의 관계를 나타내는 좌표 변환이고, ω_r,Q,ω_y,Q는 저주파 통과 필터 Q(s)의 대역폭,

는 공칭 시스템의 롤축 관성 모멘트와 마찰 계수,

는 공칭 시스템의 요축 관성 모멘트와 마찰 계수를 나타내는 것을 특징으로 한다.Preferably, the disturbance observer includes:

,

,

The output value of the disturbance observer of the first generator

And the output value of the disturbance observer of the second generator

, ≪ / RTI >

Is the coordinate transformation indicating the relationship between the roll yaw axis and the first generator and the second generator side variable, and? _{R, Q} ,? _{Y and Q} are the bandwidths of the low pass filter Q (s)

The roll axis moment of inertia and the coefficient of friction of the nominal system,

Is characterized by representing the yaw axis inertia moment and the friction coefficient of the nominal system.

A method of operating a speed controller based on disturbance observer according to another aspect of the present invention is a method of operating a speed controller based on disturbance observer based on a current control command value of a first generator and a current control command value of a second generator, Outputting an applied torque of the motor; Outputting the rotational speed of the first generator and the rotational speed of the second generator based on the applied torque of the first generator and the applied torque of the second generator; And outputting the output values of the first generator and the second generator based on the rotation speeds of the first generator and the second generator and the current control command values of the first generator and the second generator, Wherein the current control command value of the first generator and the current control command value of the second generator are set such that the output value of the speed controller of the first generator, the output value of the speed controller of the second generator and the output value of the disturbance observer of the first generator, And a difference value of each output value of the disturbance observer.

Accordingly, in the present invention, the disturbance observer is additionally constructed so that the rotation speed of the first generator and the second generator, the current control command value of the first generator and the second generator, There is an effect of having robustness against disturbance and parameter uncertainty.

Further, the present invention controls the roll shaft rotation speed and the yaw axis rotation speed by using the additional disturbance observer, so that the electric / mechanical system can operate similar to the nominal system. Accordingly, the design of the outer loop controller, that is, the speed controller, can be facilitated.

1 is a view showing a disturbance observer-based speed controller of a parallel wind power generation system according to an embodiment of the present invention.
2 is a view for explaining the operation principle of an electric system according to an embodiment of the present invention.
3 is a view for explaining the operation principle of a mechanical system according to an embodiment of the present invention.
4 is a view for explaining the operation principle of a disturbance observer according to an embodiment of the present invention.
5 is a view for explaining the operation principle of the nominal system according to an embodiment of the present invention.
FIG. 6 illustrates a method of operating a speed controller according to an embodiment of the present invention. Referring to FIG.
FIGS. 7A to 7B are diagrams showing roll axis / yaw axis angular velocity for sinusoidal disturbance.

Hereinafter, a disturbance observer-based speed controller and its operating method of a parallel wind turbine according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

Particularly, in the present invention, a disturbance observer is additionally provided, and the roll shaft rotation speed and the yaw axis rotation speed are calculated using the rotational speeds of the first and second generators and the current control command values of the first and second generators in the additional disturbance observer A new method to control the system is proposed.

Here, the disturbance observer is basically an algorithm for estimating a disturbance applied to the dynamic system. The disturbance observer can also be used to construct a more robust control system by generating a control input that may be the primary goal of estimating the disturbance itself, depending on the situation, and suppressing or eliminating the disturbance based on the estimated disturbance.

Disturbance is considered to be an unexpected behavior caused by system uncertainties as well as external factors that actually affect system operation, such as friction, so effectively suppressing the effects of disturbance is essential for a robust control system configuration.

Disturbance observers are known to have excellent performance in terms of configuring such a robust control system and are widely used in various industrial fields.

1 is a view showing a disturbance observer-based speed controller of a parallel wind power generation system according to an embodiment of the present invention.

1, the disturbance observer-based speed controller according to the present invention may include a speed controller 110, an electrical system 120, a mechanical system 130, and a disturbance observer 140.

The speed controller 110 receives the output of the first generator speed controller and the speed of the second generator based on the reference reference shaft rotation speed, the reference yaw axis rotation speed, the rotation speed of the first generator, The output value of the controller can be outputted.

, 제2 발전기의 속도 제어기의 출력값

과 제1 발전기의 외란 관측기의 출력값

, 제2 발전기의 외란 관측기의 출력값

이 각각 감산되어 전기 시스템의 입력값 즉, 제1 발전기의 전류 제어 지령치

와 제2 발전기의 전류 제어 지령치

로 인가 된다.At this time, the output value of the first generator speed controller output from the speed controller 110

, The output value of the speed controller of the second generator

And the output value of the disturbance observer of the first generator

, The output value of the disturbance observer of the second generator

Is subtracted from the input value of the electric system, that is, the current control command value

And the current control command value of the second generator

.

The electric system 120 receives the current control command value of the first generator and the current control command value of the second generator and receives the current control command value of the first generator and the current control command value of the second generator, The torque and the applied torque of the second generator can be outputted.

2 is a view for explaining the operation principle of an electric system according to an embodiment of the present invention.

과 제2 발전기의 전류 제어 지령치

을 입력 받을 수 있다.Referring to FIG. 2, an electrical system 120 according to the present invention includes a current control command

And the current control command value of the second generator

Can be input.

과 제2 발전기의 전류 제어 지령치

을 기반으로 제1 발전기의 인가 토크 τ_T와 제2 발전기의 인가 토크 τ_B를 생성할 수 있다.The electric system 120 receives the current control command value < RTI ID = 0.0 >

And the current control command value of the second generator

To generate an applied torque? _T of the first generator and an applied torque? _B of the second generator.

At this time, the relationship between the current control command value and the applied torque is expressed by the following equation (1).

[Equation 1]

Here, K _t represents a torque constant.

The electrical system 120 is a system that integrates a current controller and an electrical system, and can output an applied torque τ _T of the generated first generator and an applied torque τ _B of the second generator.

The mechanical system 130 receives the applied torque of the first generator and the applied torque of the second generator and calculates the rotational speed of the first generator based on the applied torque of the first generator and the applied torque of the second generator, The rotational speed of the generator can be outputted.

3 is a view for explaining the operation principle of a mechanical system according to an embodiment of the present invention.

Referring to FIG. 3, the mechanical system 130 according to the present invention may receive an applied torque τ _T of the first generator and an applied torque τ _B of the second generator from the electrical system 120.

The mechanical system 130 may generate the roll axis torque _r and the yaw axis torque r _y based on the applied torque τ _T of the first generator and the applied torque τ _B of the second generator.

The relationship between the applied torque and the roll axis and the yaw axis torque is expressed by the following equation (2).

&Quot; (2) "

Here, rho represents the gear ratio.

Mechanical system 130 the generated roll torque τ _r and _y based on the yaw axis torque τ may generate a roll axis rotation speed ω _r and a yaw axis rotation rate ω _y.

At this time, the relationship between the roll axis / yaw axis torque and the rotational speed is expressed by the following equation (3).

&Quot; (3) "

는 롤축과 요축에 인가 되는 외란 토크, τ_r, τ_y는롤축과 요축에 인가하는 발전기의 토크, J_rr, b_rr는 롤축의 관성 모멘트와 마찰 계수, J_yy, b_yy는 요축의 관성 모멘트와 마찰 계수, J_ry, b_ry는 요축 회전으로 인하여 발생하는 롤축 관성 모멘트와 마찰 계수, J_yr, b_yr는 롤축 회전으로 인하여 발생하는 요축 관성 모멘트와 마찰 계수를 나타낸다.Here, τ _F and τ _R are the torques applied to the turbine by the wind,

Τ _r and τ _y are the torques of the generators applied to the roll axis and the yaw axis, J _rr and b _rr are the inertial moment and friction coefficient of the roll axis, and J _yy and b _yy are the moments of inertia of the yaw axis And J _ry and b _ry are the roll axis moment of inertia and frictional coefficient due to yaw axis rotation, and J _yr and b _yr represent the yaw axis moment of inertia and friction coefficient due to roll axis rotation.

Mechanical system 130 based on the generated roll axis rotation speed ω _r and a yaw axis rotation rate ω _y may generate a rotational speed ω _B of the first generator rotational speed ω _T and the second generator.

At this time, the relationship between the roll axis / yaw axis and the generator rotation speed is expressed by the following equation (4).

&Quot; (4) "

The mechanical system 130 can output the rotation speed? _T of the generated first generator and the rotation speed? _B of the second generator.

The disturbance observer 140 receives the rotational speeds of the first and second generators of the previous period and the current control command values of the first and second generators and receives the rotational speeds of the first and second generators And output the output value of the disturbance observer of the first generator and the output value of the disturbance observer of the second generator based on the current control command value of the first generator and the second generator.

4 is a view for explaining the operation principle of a disturbance observer according to an embodiment of the present invention.

, 제2 발전기의 전류 제어 지령치

를 기반으로 제1 발전기의 외란 관측기의 출력값

와 제2 발전기의 외란 관측기의 출력값

를 출력할 수 있다.Referring to FIG. 4, the disturbance observer 140 according to the present invention includes a rotational speed? _T of the first generator, a rotational speed? _B of the second generator, a current of the first generator, Control command value

, The current control command value of the second generator

The output value of the disturbance observer of the first generator

And the output value of the disturbance observer of the second generator

Can be output.

At this time, the output value of the observer of the first generator and the second generator is expressed by the following equation (5).

&Quot; (5) "

,

,

,

,

는 롤-요축과 제1 발전기와 제2 발전기 측 변수 사이의 관계를 나타내는 좌표 변환이고, ω_r,Q,ω_y,Q는 저주파 통과 필터 Q(s)의 대역폭,

는 공칭 시스템의 롤축 관성 모멘트와 마찰 계수,

는 공칭 시스템의 요축 관성 모멘트와 마찰 계수를 나타낸다.Where Q (s) denotes the low pass filter and P _n (s) denotes the nominal value taking into account the parameter uncertainty of the plant. Also,

Is the coordinate transformation indicating the relationship between the roll yaw axis and the first generator and the second generator side variable, and? _{R, Q} ,? _{Y and Q} are the bandwidths of the low pass filter Q (s)

The roll axis moment of inertia and the coefficient of friction of the nominal system,

Represents the yaw axis inertia moment and the friction coefficient of the nominal system.

In designing the disturbance observer, it is important to select the nominal plant and Q-filter. This is because the disturbance observer is composed of the nominal plant and Q-filter.

The disturbance observer operates like a nominal plant by removing the equivalent disturbance, which actually becomes effective in the band below the nodal frequency of the Q-filter. By reversing these main characteristics, it is possible to select the nominal plant so that the characteristics of the system to which the disturbance observer is applied should be seen. Normally, it is recommended that the nominal plant be selected as closely as possible to the actual control target.

Considering this situation, in a parallel wind turbine system, the nominal plan is selected as shown in Equation (6) below so that the roll axis and yaw axis can be decoupled.

&Quot; (6) "

The Q-filter is a stable low-pass filter and its relative order must be greater than or equal to the relative order of the nominal plane (P _n ). This is to actually implement the transfer function.

In the parallel wind turbine system, the Q-filter is selected as shown in the following equation (7).

&Quot; (7) "

The electrical system 120 and the mechanical system 130 operate similarly to the nominal system.

5 is a view for explaining the operation principle of the nominal system according to an embodiment of the present invention.

Referring to FIG. 5, system 120 and mechanical system 130 operate similarly to the nominal system through a disturbance observer. Because this nominal system is a decoupled system without system disturbances and parameter uncertainties, it is easy to design a speed controller.

In addition, an important issue of parallel wind turbines is that the roll axis and yaw axes can perform power generation and position control as best as possible. Since the roll axis and yaw axis are coupled to each other, they are influenced by each other. The effect on each other will have a bad influence on the speed control as well as disturbance. For this effect, the roll axis and yaw axis system coupled through the disturbance observer behave as if they were decoupled.

FIG. 6 illustrates a method of operating a speed controller according to an embodiment of the present invention. Referring to FIG.

As shown in FIG. 6, the disturbance observer-based speed controller according to the present invention can receive the current control command value of the first generator and the current control command value of the second generator (S610).

At this time, the current control command value of the first generator and the current control command value of the second generator are determined by the output value of the speed controller of the first generator, the output value of the speed controller of the second generator, and the output value of the disturbance observer of the first generator, 2 generator is generated as the difference value of each output value of the disturbance observer of the generator.

Next, the disturbance observer-based speed controller may generate the applied torque of the first generator and the applied torque of the second generator based on the input current control command value of the first generator and the current control command value of the second generator (S620) .

Next, the disturbance observer-based speed controller can generate the rotational speed of the first generator and the rotational speed of the second generator based on the generated applied torque of the first generator and the applied torque of the second generator.

More specifically, the disturbance observer-based speed controller generates a roll shaft torque and a yaw axis torque based on the input torque of the first generator and the applied torque of the second generator (S630) The roll shaft rotation speed and the yaw axis rotation speed are generated based on the yaw axis torque (S640), and the rotation speed of the first generator and the rotation speed of the second generator are generated based on the generated roll shaft rotation speed and the yaw axis rotation speed (S650).

Next, the disturbance observer-based speed controller calculates the disturbance of the first generator based on the rotation speed of the generated first generator, the rotation speed of the second generator, the current control command value of the input first generator and the current control command value of the second generator, The output value of the observer and the output value of the disturbance observer of the second generator can be respectively output and fed back (S660).

Hereinafter, a speed controller based on a disturbance observer for a parallel type wind turbine according to the present invention will be simulated and the simulation results will be described.

1. Selection of simulation parameters: In the simulation, the bandwidth of the current controller is selected faster than the speed controller, and the nominal plant and the actual plant are selected as follows.

-? _cc (bandwidth of current controller) = 500 [rad / s]

-? _cs (bandwidth of the speed controller) = 100 [rad / s]

- Nominal plant

- Nominal plant

The parameters of the parallel type wind turbine used in the simulation are shown in [Table 1].

name symbol value Rated speed ω 400 [rpm] Rated voltage E 220 [V _ac ] (3 phase) Rated output P _o 1 [kW] Back electromotive force constant K _e 0.875 [V / (rad / s)] Moment of inertia J 0.026 [kgm ² ] Phase resistance R 8.4Ω Phase inductance L 57 [mH]

2. Simulation Results: The simulation results show that, when sinusoidal disturbances are applied to the roll axis and yaw axis, the linear PI speed controller and the PI speed controller with the disturbance observer are compared.

The speed of the roll axis is controlled at 10 [rad / s] and a disturbance of 5 · sin (1t) [N · m] is applied at 8 [s]. The yaw axis is controlled from 0 [rad / s] to 2 [s] to 5 [rad / s] from 0 to 2 [s] ] Type disturbance.

FIGS. 7A to 7B are diagrams showing roll axis / yaw axis angular velocity for sinusoidal disturbance.

As shown in FIGS. 7A and 7B, the system using the disturbance observer is not affected by the sinusoidal disturbance, and the disturbance is well removed and the speed control is good.

In addition, when the roll axis applied only to the PI speed controller is viewed, the velocity value changes due to the influence of the yaw axis in the 2 [s] interval, but the roll axis using the disturbance observer is hardly affected.

In other words, it can be seen that the disturbance observer based speed controller has robustness against the sinusoidal disturbance by comparing the speed follower performance with the conventional linear PI speed controller.

Also, the disturbance observer - based speed controller was operated as if the roll axis and yaw axis were decoupled. This result has the advantage of designing the controller for the roll axis and yaw axis, respectively.

It is to be understood that the present invention is not limited to these embodiments, and all of the elements constituting the embodiments of the present invention described above are described as being combined or operated together. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

While the invention has been shown and described with reference to certain embodiments thereof, it will be apparent to those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

110: Speed controller
120: Electrical system
130: Mechanical Systems
140: disturbance observer

Claims (14)

An electric system for outputting an applied torque of the first generator and an applied torque of the second generator based on a current control command value of the first generator and a current control command value of the second generator;
A mechanical system for outputting a rotational speed of the first generator and a rotational speed of the second generator based on the input torque of the first generator and the applied torque of the second generator; And
A disturbance observer for outputting the output values of the first generator and the second generator based on the rotational speeds of the first and second generators and the current control command values of the first and second generators in the previous cycle;
Wherein the current control command value of the first generator and the current control command value of the second generator are set such that the output value of the speed controller of the first generator, the output value of the speed controller of the second generator and the output value of the disturbance observer of the first generator, Wherein the disturbance observer-based speed controller is generated with a difference value between output values of the disturbance observer of the generator. The method according to claim 1,
The electrical system includes:
Multiplying each of the current control command value of the first generator and the current control command value of the second generator by a torque constant and generating an applied torque of the first generator and an applied torque of the second generator as a result of multiplication, Observer based speed controller. The method according to claim 1,
The machine system comprises:
Generating a roll shaft torque and a yaw axis torque based on the input torque of the first generator and the applied torque of the second generator,
Generates a roll axis rotation speed and a yaw axis rotation speed based on the generated roll shaft torque and the yaw axis torque,
Wherein the rotation speed of the first generator and the rotation speed of the second generator are generated based on the generated roll axis rotation speed and the yaw axis rotation speed. The method of claim 3,
The machine system comprises:
Equation

To generate the roll shaft torque? _R and the yaw axis torque? _Y ,
Where τ _T is the applied torque of the first generator, τ _B is the applied torque of the second generator, and ρ is the gear ratio. The method of claim 3,
The machine system comprises:
Equation

To generate a roll shaft rotation speed? _R and a yaw axis rotation speed? _Y ,
Here, τ _F and τ _R are the torques applied to the turbine by the wind,

Τ _r and τ _y are the torques of the generators applied to the roll axis and the yaw axis, J _rr and b _rr are the inertial moment and friction coefficient of the roll axis, and J _yy and b _yy are the moments of inertia of the yaw axis J _ry and b _ry are the roll axis moment of inertia and frictional coefficient due to yaw axis rotation and J _yr and b _yr represent the yaw axis inertia moment and friction coefficient due to roll axis rotation. Speed controller. The method of claim 3,
The machine system comprises:
Equation

Wherein the rotational speed? _T of the first generator and the rotational speed? _B of the second generator are generated by using the disturbance observer-based speed controller. The method according to claim 1,
The disturbance observer includes:
Equation

,

,

The output value of the disturbance observer of the first generator

And the output value of the disturbance observer of the second generator

Lt; / RTI >
here,

Is the coordinate transformation indicating the relationship between the roll yaw axis and the first generator and the second generator side variable, and? _{R, Q} ,? _{Y and Q} are the bandwidths of the low pass filter Q (s)

The roll axis moment of inertia and the coefficient of friction of the nominal system,

Wherein the disturbance observer-based velocity controller represents the yaw axis inertia moment and the friction coefficient of the nominal system. Outputting the applied torque of the first generator and the applied torque of the second generator based on the current control command value of the first generator and the current control command value of the second generator received by the electric system;
Outputting the rotational speed of the first generator and the rotational speed of the second generator based on the applied torque of the first generator and the applied torque of the second generator; And
Outputting the output values of the first and second generators based on the rotational speeds of the first generator and the second generator and the current control command values of the first generator and the second generator in the previous period when the disturbance observer is inputted;
Wherein the current control command value of the first generator and the current control command value of the second generator are set such that the output value of the speed controller of the first generator, the output value of the speed controller of the second generator and the output value of the disturbance observer of the first generator, And the difference value of each output value of the disturbance observer of the generator is generated. 9. The method of claim 8,
Wherein the step of outputting the applied torque comprises:
Multiplying each of the current control command value of the first generator and the current control command value of the second generator by a torque constant and generating an applied torque of the first generator and an applied torque of the second generator as a result of multiplication, Operating method of observer - based speed controller. 9. The method of claim 8,
The step of outputting the rotation speed includes:
Generating a roll shaft torque and a yaw axis torque based on the input torque of the first generator and the applied torque of the second generator,
Generates a roll axis rotation speed and a yaw axis rotation speed based on the generated roll shaft torque and the yaw axis torque,
Wherein the rotation speed of the first generator and the rotation speed of the second generator are generated based on the roll shaft rotation speed and the yaw axis rotation speed. 11. The method of claim 10,
The step of outputting the rotation speed includes:
Equation

To generate the roll shaft torque? _R and the yaw axis torque? _Y ,
Where τ _T is the applied torque of the first generator, τ _B is the applied torque of the second generator, and ρ is the gear ratio. 11. The method of claim 10,
The step of outputting the rotation speed includes:
Equation

To generate a roll shaft rotation speed? _R and a yaw axis rotation speed? _Y ,
Here, τ _F and τ _R are the torques applied to the turbine by the wind,

Τ _r and τ _y are the torques of the generators applied to the roll axis and the yaw axis, J _rr and b _rr are the inertial moment and friction coefficient of the roll axis, and J _yy and b _yy are the moments of inertia of the yaw axis J _ry and b _ry are the roll axis moment of inertia and frictional coefficient due to yaw axis rotation and J _yr and b _yr represent the yaw axis inertia moment and friction coefficient due to roll axis rotation. Operating method of speed controller. 11. The method of claim 10,
The step of outputting the rotation speed includes:
Equation

Wherein the rotation speed ω _T of the first generator and the rotation speed ω _B of the second generator are generated by using the disturbance observer-based speed controller. 9. The method of claim 8,
The step of outputting the output value may include:
Equation

,

,

The output value of the disturbance observer of the first generator

And the output value of the disturbance observer of the second generator

Lt; / RTI >
here,

Is the coordinate transformation indicating the relationship between the roll yaw axis and the first generator and the second generator side variable, and? _{R, Q} ,? _{Y and Q} are the bandwidths of the low pass filter Q (s)

The roll axis moment of inertia and the coefficient of friction of the nominal system,

Wherein the yaw axis inertia moment and the friction coefficient of the nominal system are expressed as a yaw axis inertia moment and a friction coefficient of the nominal system.

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