风机组电液比例差动变桨动态鲁棒补偿控制
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摘要
为克服风速的随机性对风电机组系统动态特性的影响,采用动态鲁棒控制方法对风电机组电液比例差动变桨系统的不确定性和外在干扰进行补偿。首先针对风电机组电液比例差动顺桨过程建立了系统数学模型,在此基础上加入动态鲁棒补偿控制器,构成风电机组动态鲁棒控制系统,然后利用MATLAB/Simulink模块建立控制系统顺桨仿真模型,输入不同的风速信号分别对有无动态鲁棒补偿控制器的控制系统进行仿真分析,得到不同风速信号相对应的系统响应特性曲线。仿真结果分析表明,不同的风速信号对含动态鲁棒补偿控制器的控制系统动态响应的影响很小,系统加入动态鲁棒补偿控制器后,显著提高了风电机组变桨控制的稳定性和鲁棒性。
To overcome the impact of randomness of wind speed on dynamic characteristics of wind turbines system, a dynamic robust control method is used to compensate the uncertainty and external disturbance for the electro-hydraulic proportional differential variable-pitch system of wind turbines. Primarily, a mathematical model for wind turbines system was constructed in accordance with the process of electro-hydraulic proportional differential feathering. On this basis, a dynamic robust control system for wind turbines was proposed combined with a dynamic robust compensation controller. Furthermore, a simulation model of the given control system in the process of feathering was established by utilizing MATLAB/Simulink module.Under the condition of different wind speed signals, simulated and analyzed the control system in two cases that it contained and didn't contain dynamic robust compensation controller. Finally, the response characteristic curves corresponded with given wind speed signals can be obtained. The simulation results indicate that the dynamic response of the proposed control system, which contains a dynamic robust compensation controller, is little influenced by different wind speed signals. Thus, under the application of dynamic robust compensation controller, the stability and robustness for variable-pitch control of the wind turbines are improved.
To overcome the impact of randomness of wind speed on dynamic characteristics of wind turbines system, a dynamic robust control method is used to compensate the uncertainty and external disturbance for the electro-hydraulic proportional differential variable-pitch system of wind turbines. Primarily, a mathematical model for wind turbines system was constructed in accordance with the process of electro-hydraulic proportional differential feathering. On this basis, a dynamic robust control system for wind turbines was proposed combined with a dynamic robust compensation controller. Furthermore, a simulation model of the given control system in the process of feathering was established by utilizing MATLAB/Simulink module.Under the condition of different wind speed signals, simulated and analyzed the control system in two cases that it contained and didn't contain dynamic robust compensation controller. Finally, the response characteristic curves corresponded with given wind speed signals can be obtained. The simulation results indicate that the dynamic response of the proposed control system, which contains a dynamic robust compensation controller, is little influenced by different wind speed signals. Thus, under the application of dynamic robust compensation controller, the stability and robustness for variable-pitch control of the wind turbines are improved.
引文
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[12]肖帅,杨耕,耿华.抑制载荷的大型风电机组滑模变桨距控制[J].电工技术学报,2013,28(7):145-150.Xiao S,Yang G,Geng H.Sliding-Mode Pitch Control Strategy for Large Wind Turbines to Reduce Loads[J].Transactions of China Electrotechnical Society,2013,28(7):145-150.
[13]艾超,陈文婷,孔祥东,等.基于反馈线性化的液压型风力发电机组最佳功率追踪控制[J].控制理论与应用,2015,32(6):778-786.Ai C,Chen W T,Kong X D,et al.Maximum Power Point Tracking Control of Hydraulic Type Wind Turbine Based on Feedback on Feedback Linearization[J].Control Theory&Applications,2015,32(6):778-786.
[14]孔祥东,艾超,闫桂山,等.液压型风力发电机组低电压穿越控制方法研究[J].中国机械工程,2014,25(16):2137-2143.Kong X D,Ai C,Yan G S,et al.Research on Control Method of Low Voltage Ride Through for Hydraulic Wind Turbine[J].China Mechanical Engineering,2014,25(16):2137-2143.
[15]柏艳红,权龙.电液位置速度复合伺服系统控制策略[J].机械工程学报,2010,46(24):150-155.Bai Y H,Quan L.Control Strategy of the Electro-Hydraulic Position and Speed Hybrid Servo System[J].Journal of Mechanical Engineering,2010,46(24):150-155.
[16]李明,孟光,荆建平,等.基于Modelica语言的电液伺服阀非因果建模仿真[J].系统仿真学报,2013,25(12):2946-2951.Li M,Meng G,Jing J P,et al.Non-Casual Modeling and Simulation of Electro-Hydraulic Servo Valve Based on Modelica[J].Journal of System Simulation,2013,25(12):2946-2951.
[17]邢作霞,陈雷,孙宏利,等.独立变桨距控制策略研究[J].中国电机工程学报,2011,31(26):131-138.Xing Z X,Chen L,Sun H L,et al.Strategies Study of Individual Variable Pitch Control[J].Proceedings of the CSEE,2011,31(26):131-138.
[18]何玉林,黄帅,苏东旭,等.变速风力发电机组最大风能追踪与桨距控制[J].控制工程,2012,19(3):523-526,538.He Y L,Huang S,Su D X,et al.Largest Wind Energy Tracking and Pitch Control for Variable Speed Wind Turbine[J].Control Engineering of China,2012,19(3):523-526,538.
[19]任育杰,宋锦春,任广安,等.风力发电机液压变桨距系统研究[J].机床与液压,2012,40(23):58-60.Ren Y J,Song J C,Ren G A,et al.Study on Hydraulic Pitch-Control System for Wind Driven Generator[J].Machine Tool&Hydraulics,2012,40(23):58-60.
[20]高桃桃.大型风力机液压变桨驱动技术研究及控制[D].河北:华北电力大学,2012:36-37.Gao T T.Research and Controlling on Hydraulic Variable Pitch Drive Technology of Large-Scale Wind Turbine[D].Hebei:North China Electric Power University,2012:36-37.
[21]韩维敏,罗湘运,李世军.基于改进重复控制器的永磁直线同步电动机鲁棒控制[J].控制工程,2016,23(2):233-237.Han W M,Luo X Y,Li S J.Robust Control for Permanent-Magnet Linear Synchronous Motor Based on Modified Repetitive Controller[J].Control Engineering of China,2016,23(2):233-237.
[22]杨文刚.适用于多种积分过程的鲁棒PID控制器设计方案[J].控制工程,2016,23(4):538-543.Yang W G.A Robust PID Controller Design Method for Multiple Kinds of Integrating Systems[J].Control Engineering of China,2016,23(4):538-543.
[2]章勇高,王帅,高彦丽.风力发电容量预测的最优组合技术研究[J].控制工程,2016,23(7):992-996.Zhang Y G,Wang S,Gao Y L.A Novel Wind Power Generation Capacity Prediction Technique Based on Optimal Combination Forecasting Method[J].Control Engineering of China,2016,23(7):992-996.
[3]刘德顺,戴巨川,胡燕平,等.现代大型风电机组现状与发展趋势[J].中国机械工程,2013,24(1):125-135.Liu D S,Dai J C,Hu Y P,et al.Status and Development Trends of Modern Large-Scale Wind Turbines[J].China Mechanical Engineering,2013,24(1):125-135.
[4]杨俊华,郑俭华,杨梦丽,等.变桨距风力发电机组恒功率反馈线性化控制[J].控制理论与应用,2012,29(10):1365-1370.Yang J H,Zheng J H,Yang M L,et al.Eedback Linearization Control of Constant Output Power for Variable Pitch Wind Turbine[J].Control Theory&Applications,2012,29(10):1365-1370.
[5]潘庭龙,马忠鑫,卢恩超,等.风力发电系统独立变桨距载荷优化控制研究[J].控制工程,2014,21(2):219-222.Pan T L,Ma Z X,Lu E C,et al.Research on Individual Pitch Control of Wind Power Generation System for Load Reduction[J].Control Engineering of China,2014,21(2):219-222.
[6]韩兵,周腊吾,陈浩,等.基于RBF神经网络的风电机组独立变桨控制[J].中国科学:技术科学,2016,46(3):248-255.Han B,Zhou L W,Chen H,et al.Based on RBF Neural-Network for Individual Pitch Control of Wind Turbine[J].Scientia Sinica(Technologica),2016,46(3):248-255.
[7]周志超,王成山,郭力,等.变速变桨距风电机组的全风速限功率优化控制[J].中国电机工程学报,2015,35(8):1837-1844.Zhou Z C,Wang C S,Guo L,et al.Output Power Curtailment Control of Variable-Speed Variable-Pitch Wind Turbine Generator at All Wind Speed Regions[J].Proceedings of the CSEE,2015,35(8):1837-1844.
[8]付冬梅,李彤,房俊龙.风力发电机液压变桨距控制系统的研究[J].电力学报,2012,27(3):216-220.Fu D M,Li T,Fang J L.Research of Wind Turbine Hydraulic Pitch Control System[J].Journal of Electric Power,2012,27(3):216-220.
[9]赵洪山,张健平,王桂兰,等.基于状态估计的风电机组液压变桨距系统故障检测[J].电力系统自动化,2016,40(22):100-104,124.Zhao H S,Zhang J P,Wang G L,et al.State Estimation Based Fault Detection of Hydraulic Variable-Pitch System for Wind Turbines[J].Automation of Electric Power Systems,2016,40(22):100-104,124.
[10]陈杰,龚春英,陈家伟,等.变速定桨风力发电机组的全风速功率控制[J].中国电机工程学报,2012,32(30):98-104,16.Chen J,Gong C Y,Chen J W,et al.Full Range Power Control Strategies for Variable-Speed Fixed-Pitch Wind Turbines[J].Proceedings of the CSEE,2012,32(30):98-104,16.
[11]应有,许国东.基于载荷优化的风电机组变桨控制技术研究[J].机械工程学报,2011,47(16):106-111,119.Ying Y,Xu G D.Development of Pitch Control for Load Reduction on Wind Turbines[J].Journal of Mechanical Engineering,2011,47(16):106-111,119.
[12]肖帅,杨耕,耿华.抑制载荷的大型风电机组滑模变桨距控制[J].电工技术学报,2013,28(7):145-150.Xiao S,Yang G,Geng H.Sliding-Mode Pitch Control Strategy for Large Wind Turbines to Reduce Loads[J].Transactions of China Electrotechnical Society,2013,28(7):145-150.
[13]艾超,陈文婷,孔祥东,等.基于反馈线性化的液压型风力发电机组最佳功率追踪控制[J].控制理论与应用,2015,32(6):778-786.Ai C,Chen W T,Kong X D,et al.Maximum Power Point Tracking Control of Hydraulic Type Wind Turbine Based on Feedback on Feedback Linearization[J].Control Theory&Applications,2015,32(6):778-786.
[14]孔祥东,艾超,闫桂山,等.液压型风力发电机组低电压穿越控制方法研究[J].中国机械工程,2014,25(16):2137-2143.Kong X D,Ai C,Yan G S,et al.Research on Control Method of Low Voltage Ride Through for Hydraulic Wind Turbine[J].China Mechanical Engineering,2014,25(16):2137-2143.
[15]柏艳红,权龙.电液位置速度复合伺服系统控制策略[J].机械工程学报,2010,46(24):150-155.Bai Y H,Quan L.Control Strategy of the Electro-Hydraulic Position and Speed Hybrid Servo System[J].Journal of Mechanical Engineering,2010,46(24):150-155.
[16]李明,孟光,荆建平,等.基于Modelica语言的电液伺服阀非因果建模仿真[J].系统仿真学报,2013,25(12):2946-2951.Li M,Meng G,Jing J P,et al.Non-Casual Modeling and Simulation of Electro-Hydraulic Servo Valve Based on Modelica[J].Journal of System Simulation,2013,25(12):2946-2951.
[17]邢作霞,陈雷,孙宏利,等.独立变桨距控制策略研究[J].中国电机工程学报,2011,31(26):131-138.Xing Z X,Chen L,Sun H L,et al.Strategies Study of Individual Variable Pitch Control[J].Proceedings of the CSEE,2011,31(26):131-138.
[18]何玉林,黄帅,苏东旭,等.变速风力发电机组最大风能追踪与桨距控制[J].控制工程,2012,19(3):523-526,538.He Y L,Huang S,Su D X,et al.Largest Wind Energy Tracking and Pitch Control for Variable Speed Wind Turbine[J].Control Engineering of China,2012,19(3):523-526,538.
[19]任育杰,宋锦春,任广安,等.风力发电机液压变桨距系统研究[J].机床与液压,2012,40(23):58-60.Ren Y J,Song J C,Ren G A,et al.Study on Hydraulic Pitch-Control System for Wind Driven Generator[J].Machine Tool&Hydraulics,2012,40(23):58-60.
[20]高桃桃.大型风力机液压变桨驱动技术研究及控制[D].河北:华北电力大学,2012:36-37.Gao T T.Research and Controlling on Hydraulic Variable Pitch Drive Technology of Large-Scale Wind Turbine[D].Hebei:North China Electric Power University,2012:36-37.
[21]韩维敏,罗湘运,李世军.基于改进重复控制器的永磁直线同步电动机鲁棒控制[J].控制工程,2016,23(2):233-237.Han W M,Luo X Y,Li S J.Robust Control for Permanent-Magnet Linear Synchronous Motor Based on Modified Repetitive Controller[J].Control Engineering of China,2016,23(2):233-237.
[22]杨文刚.适用于多种积分过程的鲁棒PID控制器设计方案[J].控制工程,2016,23(4):538-543.Yang W G.A Robust PID Controller Design Method for Multiple Kinds of Integrating Systems[J].Control Engineering of China,2016,23(4):538-543.