基于RBF神经网络滑模变结构独立变桨控制研究
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摘要
为降低大型风电机组由风剪切、风切变和塔影效应在叶片上产生的不平衡载荷,根据风力机气动力学、风剪切、风切变和塔影效应,提出一种基于RBF神经网络滑膜变结构独立变桨控制策略。滑模变结构控制抗干扰强、鲁棒性强和响应速度快,缺点是滑模变结构控制易产生抖动。利用RBF神经网络的在线学习能力,实时调整滑膜变结构控制器增益,使滑模函数趋于切换面,有效降低滑模变结构控制的抖动,提高独立变桨控制系统的动态性能。利用Matlab/Simulink和GH-blade软件搭建了5 MW风电机组的联合仿真模型。仿真实验表明采用所提出的独立变桨控制方案能有效降低桨叶根部不平衡载荷,还能提高风电机组运行在额定风速以下的功率性能。通过试验平台的测试,也验证了所提出的独立变桨控制策略的合理性。
In order to reduce the unbalanced load of large wind turbines produced by the blade of wind shear and tower shadow effects, according to the wind turbine gas dynamics, wind shear and tower shadow effects, this paper proposes an independent variable pitch control strategy based on RBF neural network sliding mode. The ability of sliding mode to control of anti-interference and robustness is strong and it has quick response speed, the disadvantage is that the control of sliding mode jitters easily. By the online learning ability of RBF neural network, it adjusts the gaining of sliding mode controller in real time, leading the synovial function on switching surface, reducing the jitter of the sliding mode control effectively, and improving the dynamic performance of independent variable propeller control system. A joint simulation mode joint for 5 MW wind turbine blade is set up by Matlab/Simulink and GH-blade software. Simulation results show that the independent variable pitch control scheme can effectively reduce the unbalanced load in blade root and improve the power of wind turbines run below the rated wind speed in performance. Through the test platform, it also verifies the rationality of the independent variable pitch control strategy proposed in this paper.
In order to reduce the unbalanced load of large wind turbines produced by the blade of wind shear and tower shadow effects, according to the wind turbine gas dynamics, wind shear and tower shadow effects, this paper proposes an independent variable pitch control strategy based on RBF neural network sliding mode. The ability of sliding mode to control of anti-interference and robustness is strong and it has quick response speed, the disadvantage is that the control of sliding mode jitters easily. By the online learning ability of RBF neural network, it adjusts the gaining of sliding mode controller in real time, leading the synovial function on switching surface, reducing the jitter of the sliding mode control effectively, and improving the dynamic performance of independent variable propeller control system. A joint simulation mode joint for 5 MW wind turbine blade is set up by Matlab/Simulink and GH-blade software. Simulation results show that the independent variable pitch control scheme can effectively reduce the unbalanced load in blade root and improve the power of wind turbines run below the rated wind speed in performance. Through the test platform, it also verifies the rationality of the independent variable pitch control strategy proposed in this paper.
引文
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[17]窦真兰,施刚,曹云峰,等.减少风力机转矩波动的异步变桨控制[J].电工技术学报,2014,29(1):237-245.DOU Zhenlan,SHI Gang,CAO Yunfeng,et al.Individual pitch control for reducing wind turbine torque fluctuation[J].Transactions of China Electrotechnical Society,2014,29(1):237-245.
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[22]鲁效平,顾海港,林勇刚,等.基于独立变桨距技术的风力发电机组载荷控制研究[J].太阳能学报,2011,32(11):1592-1598.LU Xiaoping,GU Haigang,LIN Yonggang,et al.Research on the load control of wind turbines based on individual pitch technology[J].Acta Energiae Solaris Sinica,2011,32(11):1592-1598.
[23]王晓东,姚兴佳.基于泛模型的风轮不平衡载荷控制[J].太阳能学报,2012,33(2):1592-1598.WANG Xiaodong,YAO Xingjia.Rotor unbalance load control of wind turbine based on universal model[J].Acta Energiae Solaris Sinica,2012,33(2):1592-1598.
[2]龚裕仲,江全元,汪海蛟.考虑电网频率偏差的风电功率爬坡限制指标动态优化[J].电网技术,2015,39(9):2378-2384.GONG Yuzhong,JIANG Quanyuan,WANG Haijiao.Dynamic optimization of wind power ramp limitation based on power system frequency deviation[J].Power System Technology,2015,39(9):2378-2384.
[3]陈载宇,沈春,殷明慧,等.面向AGC的变速变桨风电机组有功功率控制策略[J].电力工程技术,2017,36(1):9-14.CHEN Zaiyu,SHEN Chun,YIN Minghui,et al.Review of active power control strategy for variable-speed variable-pitch wind turbine participating in AGC[J].Electric Power Engineering Technology,2017,36(1):9-14.
[4]ZHENG Dehua,ESEYE A T,ZHANG Jianhua,et al.Short-term wind power forecasting using a double-stage hierarchical ANFIS approach for energy management in microgrids[J].Protection and Control of Modern Power Systems,2017,2(2):136-145.DOI:10.1186/s41601-017-0041-5.
[5]郑明,李保宏,陆莹,等.海上风电场集群输电网可靠性分析[J].电力工程技术,2018,37(2):49-54.ZHENG Ming,LI Baohong,LU Ying,et al.Reliability analysis of offshore wind farm transmission network cluster[J].Electric Power Engineering Technology,2018,37(2):49-54.
[6]周腊吾,邓宁峰,陈浩,等.基于ACA-PID算法的风机独立变桨控制[J].电力系统保护与控制,2016,44(15):100-105.ZHOU Lawu,DENG Ningfeng,CHEN Hao,et al.Individual pitch control strategy based on ACA-PIDcontroller in wind turbine[J].Power System Protection and Control,2016,44(15):100-105.
[7]GENG Hua,YANG Geng.Output power control for variable-speed variable-pitch wind generation systems[J].IEEE Transactions on Energy Conversion,2010,25(2):494-503.
[8]许昌,魏媛,李涛,等.大型风电机组机组层AGC控制策略研究[J].电力系统保护与控制,2017,45(2):70-74.XU Chang,WEI Yuan,LI Tao,et al.Research on automatic generation turbine control strategy of large wind turbine[J].Power System Protection and Control,2017,45(2):70-74.
[9]YUAN Xibo,LI Yongdong.Control of variable pitch and variable speed direct-drive wind turbines in weak grid systems with active power balance[J].IET Renewable Power Generation,2013,8(2):119-131.
[10]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 Zuoxia,CHEN Lei,SUN Hongli,et al.Strategies study of individual variable pitch control[J].Proceedings of the CSEE,2011,31(26):131-138.
[11]VAN T L,NGUYEN T H,LEE D C.Advanced pitch angle control based on fuzzy logic for variable-speed wind turbine systems[J].IEEE Transactions on Energy Conversion,2015,30(2):578-587.
[12]韦徵,陈冉,陈家伟,等.基于功率变化和模糊控制的风力发电机组变速变桨距控制[J].中国电机工程学报,2011,31(17):121-126.WEI Zheng,CHEN Ran,CHEN Jiawei,et al.Wind turbine-generator unit variable-speed pitch control based on judgment of power changes and fuzzy control[J].Proceedings of the CSEE,2011,31(17):121-126.
[13]杜静,文薄程,谢双义,等.变速变桨风力机的自适应变桨及转矩控制[J].电源技术,2014,38(10):1904-1906.DU Jing,WEN Bocheng,XIE Shuangyi,et al.Adaptive pitch and torque control of wind turbines[J].Power Technology,2014,38(10):1904-1906.
[14]LUO Qingshun,YANG Qinmin,HAN Chao,et al.Pitch angle controller of variable-speed wind turbine based on L1 adaptive control theory[C]//International Conference on Mechatronics and Control,2014:955-960.
[15]王哲,田艳丰,陈雷,等.基于RBF神经网络的桨距角控制策略[J].太阳能学报,2011,32(5):623-626.WANG Zhe,TIAN Yanfeng,CHEN Lei,et al.Pitch angle control strategy based on RBF neural network[J].Acta Energiae Solaris Sinica,2011,32(5):623-626.
[16]JAFARNEJADSANI H,PIEPER J,EHLERS J.Adaptive control of a variable-speed variable-pitch wind turbine using radial-basis function neural network[J].IEEETransactions on Control Systems Technology,2013,21(6):2264-2272.
[17]窦真兰,施刚,曹云峰,等.减少风力机转矩波动的异步变桨控制[J].电工技术学报,2014,29(1):237-245.DOU Zhenlan,SHI Gang,CAO Yunfeng,et al.Individual pitch control for reducing wind turbine torque fluctuation[J].Transactions of China Electrotechnical Society,2014,29(1):237-245.
[18]ZHANG Yunqian,CHEN Zhe,CHENG Ming.Proportional resonant individual pitch control for mitigation of wind turbines loads[J].IET Renewable Power Generation,2013,7(3):191-200.
[19]姚兴佳,刘玥,郭庆鼎.基于前馈补偿方位角权系数的分程独立变桨控制研究[J].太阳能学报,2012,33(11):532-539.YAO Xingjia,LIU Yue,GUO Qingding.A control method for split range individual pitch based on feed-forward azimuth angle weight number assignment[J].Acta Engergiae Solaris Sinica,2012,33(11):532-539.
[20]YAO X,WANG X,XING Z,et al.Individual pitch control for variable speed turbine blade load mitigation[C]//International Conference on Sustainable Energy Technologies,November 24-27,2008,Singapore,Singapore:769-772.
[21]崔双喜,王维庆,张新燕.大型风力发电机组无模型独立变桨载荷控制[J].电力系统保护与控制,2013,41(5):55-59.CUI Shuangxi,WANG Weiqing,ZHANG Xinyan.Model free and individual pitch load control for large-scale wind turbine[J].Power System Protection and Control,2013,41(5):55-59.
[22]鲁效平,顾海港,林勇刚,等.基于独立变桨距技术的风力发电机组载荷控制研究[J].太阳能学报,2011,32(11):1592-1598.LU Xiaoping,GU Haigang,LIN Yonggang,et al.Research on the load control of wind turbines based on individual pitch technology[J].Acta Energiae Solaris Sinica,2011,32(11):1592-1598.
[23]王晓东,姚兴佳.基于泛模型的风轮不平衡载荷控制[J].太阳能学报,2012,33(2):1592-1598.WANG Xiaodong,YAO Xingjia.Rotor unbalance load control of wind turbine based on universal model[J].Acta Energiae Solaris Sinica,2012,33(2):1592-1598.