直驱液压泵控马达自适应反演变桨距控制
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摘要
为克服传统变桨距系统存在的能耗高、控制机构复杂的缺点,提出直驱液压泵控马达变桨距系统。采用可变速伺服电机驱动定量泵的闭式液压回路结构,针对变桨系统自身存在的非线性与参数不确定等特性,基于反演递推(backstepping)技术,结合自适应算法,设计自适应反演控制器,通过构造Lyapunov函数推证稳定性,并在此基础上,采用实测数据进行仿真验算。结果表明,系统具有良好的自适应性、抗干扰性,有较高的变桨距控制精度,能较好地稳定机组输出功率。
To solve the problems of high energy consumption and complex control mechanism in conventional pitchsystem,a closed loop direct-drive hydraulic pump-controlled-motor pitch system was proposed,which used closedhydraulic circuit structure of variable speed servo motor driving dosing pump.Aiming at nonlinearity and uncertaintyexisting in pitch system,the adaptive inversion controller was designed based on backstepping technique and combiningwith the adaptive algorithm.The stability of system was verified through special Lyapunov functions.The simulationcheck was carried out based on practical measuring data.The results show this pitch system has good adaptivity,robustness and higher pitch angle control precision,which can stabilize output power of the unit.
To solve the problems of high energy consumption and complex control mechanism in conventional pitchsystem,a closed loop direct-drive hydraulic pump-controlled-motor pitch system was proposed,which used closedhydraulic circuit structure of variable speed servo motor driving dosing pump.Aiming at nonlinearity and uncertaintyexisting in pitch system,the adaptive inversion controller was designed based on backstepping technique and combiningwith the adaptive algorithm.The stability of system was verified through special Lyapunov functions.The simulationcheck was carried out based on practical measuring data.The results show this pitch system has good adaptivity,robustness and higher pitch angle control precision,which can stabilize output power of the unit.
引文
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[2]林勇刚.大型风力机变桨距控制技术研究[D].杭州:浙江大学,2005.Lin Yonggang.Large-scale wind turbine pitch control technology research[D].Hangzhou:Zhejiang University,2005.
[3]殷秀兴,林勇刚,李伟,等.基于电液行星锥齿马达的变桨距控制[J].浙江大学学报:工学版,2014,48(2):206—213.Yin Xiuxing,Lin Yonggang,Li Wei,et al.Study on variable pitch-controlled technology based on electrohydraulic planetary bevel gear motor[J].Journal of Zhejiang University:Engineering,2014,48(2):206—213.
[4]魏树国,赵升吨,张立军,等.直驱泵控式液压机液压系统的动态特性仿真及优化[J].西安交通大学学报,2009,43(7):79—82.Wei Shuguo,Zhao Shengdun,Zhang Lijun,et al.Dynamic simulation and optimization of hydraulic system for new directly-driven pump controlling hydraulic press[J].Journal of Xi’an Jiaotong University,2009,43(7):79—82.
[5]Truong D Q,Ahn K K.Force control for hydraulic load simulator using self-tuning grey predictor-fuzzy PID[J].Mechatronics,2009,19(2):233—246.
[6]Zheng Jianmin,Zhao Shengdun,Wei Shuguo.Application of self-tuning fuzzy PID controller for a SRM direct drive volume control hydraulic press[J].Control Engineering Practice,2009,17(12):1398—1404.
[7]王洪斌,张永顺,冯少婵,等.直驱泵控缸系统建模及自适应反推滑模控制[J].电机与控制学报,2011,15(9):92—98.Wang Hongbin,Zhang Yongshun,Feng Shaochan,et al.System modeling and adaptive backstepping slinding mode control for direct-drive pump-controlled cylinder[J].Electric Machines and Control,2011,15(9):92—98.
[8]高为炳.变结构控制理论基础[M].北京:中国科学技术出版社,1990.Gao Weibing.Variable structure control theory[M].Beijing:China Science and Technology Press,1990.
[9]Yin Xiuxing,Lin Yonggang,Li Wei,et al.Integrated pitch control for wind turbine based on a novel pitch control system[J].Journal of Renewable and Sustainable Energy,2014,6(4):1273—1287.
[10]Vossoughi G,Donath M.Dynamic feedback linearization for electrohydraulically actuated control systems[J].Journal of Dynamic Systems,Measurement,and Control,1995,117(4):468—477.
[11]Alleyne A,Liu R.A simplified approach to force control for electro-hydraulic systems[J].Control Engineering Practice,2000,8(12):1347—1356.
[12]Nakkarat P,Kuntanapreeda S.Observer-based backstepping force control of an electrohydraulic actuator[J].Control Engineering Practice,2009,17(8):895—902.
[13]王春行.液压控制系统[M].北京:机械工业出版社,1999.Wang Chunxing.Hydraulic control system[M].Beijing:China Machine Press,1999.
[14]胡云安,晋玉强,李海燕.非线性系统鲁棒自适应反演控制[M].北京:电子工业出版社,2010.
[15]段魁臣.稳定性基本理论与Lyapunov函数构造[M].乌鲁木齐:新疆大学出版社,1990.Duan Kuichen.Basic theory of stability and Lyapunov function construction[M].Urumqi:Xinjiang University Press,1990.
[16]闵颖颖,刘允刚.Barbalat引理及其在系统稳定性分析中的应用[J].山东大学学报:工学版,2007,37(1):51—55.Min Yingying,Liu Yunyang.Barbalat Lemma and its application in analysis of system stability[J].Journal of Shandong University:Engineering Science,2007,37(1):51—55.
[17]Krstic M,Kanellakopoulos I,Kokotovic P V.Nonlinear and adaptive control design[M].Wiley,1995.