CN110134015A - A kind of H ∞ robust control method of Wind Turbine hydraulic variable pitch system - Google Patents

A kind of H ∞ robust control method of Wind Turbine hydraulic variable pitch system Download PDF

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CN110134015A
CN110134015A CN201910410510.9A CN201910410510A CN110134015A CN 110134015 A CN110134015 A CN 110134015A CN 201910410510 A CN201910410510 A CN 201910410510A CN 110134015 A CN110134015 A CN 110134015A
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hydraulic
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pitch system
hydraulic variable
pitch
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CN110134015B (en
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王冰
王绍平
沈王平
陈桂儒
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Hohai University HHU
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    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract

The invention discloses a kind of H ∞ robust control methods of Wind Turbine hydraulic variable pitch system, firstly, finding out the mathematical model of hydraulic variable-pitch system, and are rewritten into the state equation of nominal object；It further according to system performance requirements, chooses mixed sensitivity optimization and meets the weighting function of system requirements in the process, and then acquire the state space realization of system the generalized controlled object；Then, H ∞ controller is solved by hinf function in the robust control tool box in Matlab softwareK(s), and by H ∞ controllerK(s) in hydraulic variable-pitch system.Hydraulic variable-pitch control method practicability provided by the invention is stronger, not only reduces kinematic error, and have good control effect for the variation of external interference and inherent parameters.When hydraulic variable-pitch system is in prolonged inner parameter gradual change or in the case where receive external environmental interference, the robust anti-interference of controlled hydraulic feather is can be improved in H ∞ control method.

Description

A kind of H ∞ robust control method of Wind Turbine hydraulic variable pitch system
Technical field
The present invention relates to a kind of H ∞ robust control methods of Wind Turbine hydraulic variable pitch system, belong to hydraulic variable-pitch Control technology field.
Background technique
With the deterioration of traditional fossil energy being in an emergency with global environment, wind energy as a kind of cleaning, it is free of contamination can be again The raw energy, receives significant attention.With the fast development of wind-powered electricity generation industry, the research about wind generating technology also obtains height weight Depending on.In control system of wind turbines, hydraulic variable-pitch system is one of the core component of variable speed constant frequency Wind turbines, to system Safe and stable operation play a crucial role.Hydraulic variable-pitch system is turned by the Bearning mechanism between blade and wheel hub The propeller pitch angle of movable vane piece changes the lift of vane airfoil profile, to change the aerodynamic characteristic of blade, makes the stress of blade and complete machine Situation is adjusted.
Although some traditional control strategies can be realized the preferable control to hydraulic variable-pitch system, but do not examine sufficiently Consider the influences of the factors to system performance such as model inherent parameters bring uncertainty and external interference, H ∞ robust control The method important as one kind of modern robust control theory, can not only effectively track pitch-variable system, and can make Blade pitch device keeps the stabilization of system in the case where Parameter uncertainties and external interference, enhances the robustness of system.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of H ∞ robust control of Wind Turbine hydraulic variable pitch system Method processed, for for a long time by caused by extraneous adverse circumstances and inter deterioration the case where argument structure gradual change have good control Effect processed.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of H ∞ robust control method of Wind Turbine hydraulic variable pitch system, includes the following steps:
Step 1, according to the model of hydraulic variable-pitch system, flow equation, hydraulic cylinder stream including electro-hydraulic proportion reversing valve Continuity equation, the stress equation of hydraulic cylinder and the stress balance equation of electric-hydraulic proportion pilot valve are measured, hydraulic variable-pitch is acquired System transter；
Step 2, H ∞ robust control is applied to hydraulic variable-pitch system, obtains hydraulic variable-pitch system after H ∞ robust control Three closed loop transfer function,s for being input to tracking error, input voltage, reality output of system；
Step 3, weighting function is selected, converts mixed sensitivity optimization problem for H ∞ kinds of robust control problems, and according to step Rapid 2 three closed loop transfer function,s acquire the generalized controlled object of the hydraulic variable-pitch system under mixed sensitivity optimization problem；
Step 4, according to the generalized controlled object of step 3 and weighting function, the broad sense of hydraulic variable-pitch system is derived The state space equation of controlled device, and H ∞ controller K (s) is solved by the hinf function in Matlab robust control tool box.
As a preferred solution of the present invention, the detailed process of the step 1 are as follows:
Step 1.1, the flow equation of electro-hydraulic proportion reversing valve are as follows:
Qm=λmxv-λnPm
Wherein, QmFor electro-hydraulic proportion reversing valve flow, m3/s；λmFor the amplification coefficient of flow, m2/s；xvFor proportional direction valve Spool displacement, mm；λnFor the amplification coefficient of flow rate pressure, m5/N·s；PmFor the load pressure of proportioning valve, N；
Step 1.2, hydraulic cylinder Flow continuity equation are as follows:
Wherein, AmFor hydraulic cylinder piston area, cm2；ymFor hydraulic cylinder piston displacement, mm；T indicates time, V0It is hydraulic Total measurement (volume), m3；βcFor hydraulic cylinder volume elasticity coefficient；CmTo reveal coefficient；
Step 1.3, the stress equation of hydraulic cylinder are as follows:
Wherein, m is piston and load gross mass, kg；BQFor the viscous damping coefficient of piston and load movement；μ is load The dynamics coefficient that is born of spring；FQFor load disturbance institute stress, N；
Step 1.4, the stress balance equation of electric-hydraulic proportion pilot valve are as follows:
Wherein, i is proportion electro-magnet input current, mA；KsfDetection spring rigidity, N are fed back for electric-hydraulic proportion pilot valve m/rad；KiFor proportion electro-magnet power-current amplification factor, N/mA；KbFor electric voltage displacement amplification coefficient, mA/mm；
Step 1.5, hydraulic variable-pitch system transter is obtained by step 1.1-1.4 are as follows:
Wherein, G0(s) hydraulic variable-pitch system transter is indicated；KtFor electric-hydraulic proportion amplification coefficient；KmFor feedback control Coefficient processed, mA/mm；S is the parameter of transmission function.
As a preferred solution of the present invention, closed loop transfer function, described in step 2 meets:
Wherein, S is sensitivity function；R, T is mending sensitivity function；I is unit transmission function；K (s) is hydraulic variable-pitch System controller；G (s) is the generalized controlled object of hydraulic variable-pitch system；S is the parameter of transmission function.
As a preferred solution of the present invention, weighting function described in step 3 are as follows:
W1=180/ (25s+1), W2=0.008, W3=(10s+32)/320
Wherein, W1It is the weighting function to sensitivity function S；W2It is the weighting function to mending sensitivity function R；W3It is pair The weighting function of mending sensitivity function T；S is the parameter of transmission function.
As a preferred solution of the present invention, hydraulic variable-pitch system described in step 3 is in mixed sensitivity optimization problem Under the generalized controlled object are as follows:
Wherein, z1It is an externally input the evaluation signal of r to tracking error e；z2It is an externally input the evaluation of r to system input u Signal；z3It is an externally input the evaluation signal of r to reality output y；W1It is the weighting function to sensitivity function S；W2It is clever to mending The weighting function of sensitivity function R；W3It is the weighting function to mending sensitivity function T；I is unit transmission function；G (s) is hydraulic The generalized controlled object of pitch-variable system；S is the parameter of transmission function；D is external disturbance；PnFor the wide of hydraulic variable-pitch system Justice is controlled to matrix.
As a preferred solution of the present invention, the state of the generalized controlled object of hydraulic variable-pitch system described in step 4 Space equation are as follows:
Wherein, [x0,x1,x2,x3]-TFor the state variable of hydraulic variable-pitch system；z1It is an externally input the evaluation signal of r to tracking error e；z2 It is an externally input the evaluation signal of r to system input u；z3It is an externally input the evaluation signal of r to reality output y；W1It is to sensitive Spend the weighting function of function S；W2It is the weighting function to mending sensitivity function R；W3It is the weighting function to mending sensitivity function T；For the final output of control object；KtFor electric-hydraulic proportion amplification coefficient；KmFor feedback control coefficient, mA/mm；I is unit transmitting Function；D is external disturbance；An1、Bn1、Cn1、Dn1For W1Element, An2、Bn2、Cn2、Dn2For W2Element, An3、Bn3、Cn3、Dn3For W3Element.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, the present invention devises one kind for parameter uncertainty and external interference existing for variable-pitch system of wind turbine generator H ∞ robust controller improves the dynamic property and stability margin of closed-loop system.
2, hydraulic variable-pitch control method practicability provided by the invention is stronger, not only reduces kinematic error, and right There is good control effect in the variation of external interference and inherent parameters.
Detailed description of the invention
Fig. 1 is hydraulic variable-pitch system composition figure of the present invention.
Fig. 2 is hydraulic variable-pitch executing agency H ∞ robust control structure chart.
Fig. 3 is the H ∞ kinds of robust control problems figure of standard.
Fig. 4 is mixed sensitivity optimization problem figure.
Fig. 5 is the MATLAB figure that Wind Turbine hydraulic variable pitch system is added after H ∞ robust controller, wherein (a) is State response, (b) are root locus, (c) is Nyquist curve, (d) is bode figure.
Fig. 6 is the MATLAB figure in inherent parameters gradual change, wherein (a) is response curve, (b) is bode figure.
Fig. 7 is the external disturbance figure of hydraulic variable-pitch system.
Fig. 8 is the propeller pitch angle for not adding any controller, H ∞ robust controller being added, is added in the case of three kinds of PI controller Simulation comparison figure.
Fig. 9 is the propeller pitch angle bode comparison diagram of PI control and H ∞ control.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings.Below by The embodiment being described with reference to the drawings is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
The present invention provides a kind of H ∞ robust control methods of Wind Turbine hydraulic variable pitch system, comprising the following steps:
Step 1: hydraulic variable-pitch modeling of control system
Step 101, the flow equation of electro-hydraulic proportion reversing valve:
Qm=λmxv-λnPm (1)
Wherein, Qm- proportioning valve flow, m3/s；λmThe amplification coefficient of-flow, m2/s；λnThe amplification system of-flow rate pressure Number, m5/N·s；PmThe load pressure of-proportioning valve, N；xvThe displacement of-Valve Core for Proportional Direction Valve, mm.
Step 102, hydraulic cylinder Flow continuity equation:
Wherein, Am- hydraulic cylinder piston area, cm2；V0- hydraulic total measurement (volume), m3；βc- hydraulic cylinder volume elasticity coefficient； ymThe displacement of-hydraulic cylinder piston, mm；Cm- leakage coefficient.
Step 103, the stress equation of hydraulic cylinder:
Wherein, m-piston and load gross mass, kg；BQThe viscous damping coefficient of-piston and load movement；FQ- load Disturb institute's stress, N；The dynamics coefficient that μ-load spring is born.
Step 104, the stress balance equation of electric-hydraulic proportion pilot valve:
Wherein, i-proportion electro-magnet input current, mA；Ki- proportion electro-magnet power-current amplification factor, N/mA；Ksf— Ratio change-over pilot valve feeds back detection spring rigidity, Nm/rad；Kb- electric voltage displacement amplification coefficient, mA/mm.
Step 105, hydraulic variable-pitch system transter is obtained by (1)-(4):
α in formulat- hydraulic natural frequency；ξt- hydraulic system damping ratio；Km- feedback control coefficient, mA/mm；Kv- liquid Pressure cylinder piston speed amplification coefficient, m2/cm2S, and Kv=λm/Am, Kt=Kv/Kb；Kt- electric-hydraulic proportion amplification coefficient.Due to liquid The intrinsic frequency α of buckling system for rotatingtMuch larger than hydraulic system damping ratio ξt, above formula can simplify are as follows:
Step 2: in hydraulic variable-pitch system, due to built-in system run for a long time can parameter exist it is uncertain because Element, this can constitute certain error to system modelling, and extraneous interference pitch-variable system stable operation can also be brought it is unfavorable Factor.In order to guarantee that pitch-variable system can effectively inhibit disturbance in uncertain situation, hydraulic variable-pitch system is carried out here The H ∞ that unites is controlled, including the following steps:
Step 201, H ∞ robust control is used for hydraulic variable-pitch system.It, can according to the H ∞ robust control criterion of standard The H ∞ robust control the generalized controlled object for the standard of obtaining are as follows:
And obtain the transmission function G (s) after H ∞ robust control are as follows:
Wherein, z is the evaluation signal of pitch-variable system output；Y is the practical measuring value of feather angle；D is extraneous ring The interference in border；U is the input voltage of system；G (s) is the generalized controlled object of pitch-variable system.
Therefore, closed loop transfer function, of the interference d of standard H ∞ robust control to evaluation output z are as follows:
Hzw(s)=G11(s)+G12(s)K(s)[I-G22(s)K(s)]-1G21(s) (9)
Wherein K (s) is the pitch-variable system controller of required design.
Step 202, the master pattern of mixed sensitivity problem.Mixed sensitivity problem is the most typically problem of H ∞ control One of, in application H ∞ method designing system, to guarantee system robustness energy, usual H ∞ kinds of robust control problems design is converted into Mixed sensitivity optimization problem not only allows for effective inhibition of the controller to external disturbance, it is contemplated that feather mould in this way Type is on the variational influence of inherent parameters.By the mixed sensitivity optimization problem of standard, W can be set1For performance weighting function, reaction Interference characteristic of the outside environmental elements to pitch-variable system；W2Weighting function is exported for controller, indicates controllable to system itself Voltage threshold limit；W3For the weight of system robust；E is tracking error；R is an externally input.The wherein closed loop of r to e, u and y Transmission function is S, R, T.Meet:
Wherein, S is sensitivity function, and R, T are mending sensitivity function, and I is unit transmission function.S is represented to control system The requirement of performance, R and T represent the requirement of system robust stability.
External environment interferes d to z1、z2、z3, transmission function are as follows:
Wherein z1It is an externally input the evaluation signal of r to tracking error e；z2It is an externally input the evaluation of r to system input u Signal；z3It is an externally input the evaluation signal of r to reality output y.
Disturbance can be effectively inhibited to guarantee hydraulic variable-pitch system in uncertain situation it is necessary to meet two items Part: 1) being exactly to find true rational function controller K (s)；2) hydraulic variable propeller system is made to keep transmitting in a certain range The least norm of Jacobian matrix.
Step 203, hydraulic variable-pitch system can be obtained in measured mixed sensitivity problem by step 201 and 202 Under the generalized controlled object are as follows:
In formula, PnIt is controlled to matrix for the broad sense of hydraulic variable-pitch system.
Step 3: the state space realization of the generalized controlled object
Step 301, the selection criteria of weighting function, we select three weighting function W for meeting system requirements here1、 W2、W3。
W1It is the weighting function to sensitivity function S, is reference input to tracking error for the shaping to S function The transmission function that transmission function and exogenous disturbances are exported to system.Due to the rapidity and essence of feather in actual operation The requirement of parasexuality, so that W1Biggish gain is needed at system low frequency, not only can more be rapidly performed by pitch The accurate tracking at angle can also effectively inhibit the interference to noise.So weighting function W1For low-pass transfer function.By imitative It is true to compare, obtain W1=180/ (25s+1).
W2It is the weighting function to mending sensitivity R, indicates norm circle of additivity perturbation, this is the perturbation range of system parameter It determines, for constraining the output of designed hydraulic variable-pitch controller.The mistake that pitch-variable system generates in operation in order to prevent Load is injured caused by system, needs to carry out controller input current certain control, can be in mixed sensitivity design By selecting weighting matrix W2To realize the estimation of control signal amplitude range；In mixed sensitivity design, choosing can be passed through Select weighting matrix W2To realize the estimation of control signal amplitude range.Usually take W2For a constant, in order to guarantee hydraulic variable-pitch system System within controlled range, can use W2=0.008.
W3It is that norm circle of multiness disturbance is indicated to the weighting function of T, reflects the steady performance requirement of robust.W3Generally have High-pass nature, this can not only embody hydraulic variable-pitch system to the variation range of inherent parameters very well, and can also react modeling When dynamic characteristic.W3Requirement in propeller pitch angle in high frequency treatment, the singular value of T has certain decaying, and for hydraulic vane change Away from system, W3The system of being capable of providing meets to obtain magnitude margin, Phase margin and biggish bandwidth, and pitch-variable system can be made more preferable Adaptation external interference changeability.It is practiced through emulation, chooses W3=(10s+32)/320.
Step 302, the solution of the state space equation of the generalized controlled object of hydraulic variable-pitch
1) according to the description of the mixed sensitivity optimization problem of standard, the state for obtaining the output of hydraulic variable-pitch system finally is empty Between realize equation matrix be
2) hydraulic pitch angle reality output expression formula
In formula,The final output of control object；D is external disturbance.
3) state space realization of three weighting functions.By above-mentioned obtained three weighting function W1、W2、W3, carry out shape State space is realized, the state space realization equation matrix of three weighting functions is obtained
4) state-space expression of the evaluation signal z of hydraulic vane change is
Step 303, the state space realization of the generalized controlled object.The hydraulic variable-pitch obtained by formula (13), (14), (16) The state space equation of the generalized controlled object of system:
[x in formula0,x1,x2,x3]-TFor the state variable of hydraulic variable propeller system；I is unit battle array.
Step 4: the design of controller K (s)
The data for the 1.5MW unit that the present invention is provided with certain coastal wind power plant calculate K after opening paddle process to startingt= 9.876、Km=1.075, it substitutes into the state space equation model of the generalized controlled object of hydraulic variable-pitch, and pass through Matlab Hinf function solves to obtain controller in robust control tool box in software, acquires the controller for meeting systemAnd it is added in the control system of hydraulic variable-pitch, and logical simulating, verifying control strategy is excellent More property.
Scheme in order to better illustrate the present invention is said below by the model for establishing system in Matlab and in conjunction with attached drawing It is bright.
Fig. 1 is hydraulic variable-pitch system composition figure.Wind turbine hydraulic variable-pitch system is an automatic control system, including Pitch control device, D/A converter, proportional reversing valve, hydraulic cylinder, winch connecting structure, displacement sensor, blade etc., structure As shown below: proportional reversing valve, hydraulic cylinder and winch connecting structure are the executing agency of variable-pitch control system, variable pitch contro l The signal for the input that system is united by controller and D/A converter is converted into analog quantity, by the pitch of actuating mechanism controls blade Angle；Displacement sensor of the feedback system by setting, the pitch angle signal feedback for arriving actual measurement through A/D converter to system In Variable-pitch Controller, and the measured value of the real response given with propeller pitch angle is compared, and deviation is formed, further according to propeller pitch angle Deviation carries out the adjustment of control signal, to form feather closed-loop system.Hydraulic variable-pitch system uses fluid pressure Executing agency is driven to change the pitch angle of blade, specific control mode are as follows: work as vWind speed<vRated wind speed, electro-hydraulic proportion reversing valve maintenance Paddle pitch angle is 0 °；Work as vWind speed≥vRated wind speed, controller controls blade by the direction and size of reversal valve output flow Pitch angle remains unchanged the output of power.Wherein, electro-hydraulic proportion reversing valve is the core of pitch regulating hydraulic control system Point, when proportioning valve energization left position, pressure oil enters the front end of cylinder barrel, and piston rod is moved to the left, and propeller pitch angle reduces, Xiang Zuoyi Move maximum position, pitch angle β=0 °；When the right position of the energization of proportioning valve, pressure oil enters the rear end of cylinder barrel, piston rod to It moves right, propeller pitch angle increases, and moves right to maximum position, pitch angle β=90 °.
Fig. 2 hydraulic variable-pitch executing agency H ∞ robust control knot figure.In hydraulic variable-pitch system, due to built-in system Abrasion cause the uncertain factor that inherent parameters are deposited, this can constitute certain error, and extraneous interference to system modelling Also unfavorable factor can be brought to pitch-variable system stable operation.In order to guarantee that pitch-variable system can be effective in uncertain situation Ground disturbance suppression, therefore designed controller need to have robust stability.
Fig. 3 is the H ∞ kinds of robust control problems of standard: z is the evaluation signal of pitch-variable system output；Y is feather angle Practical measuring value；The interference of d external environment；U is the input voltage of system；G (s) is controlled pair of the broad sense of pitch-variable system As；K (s) is the pitch-variable system controller of required design.
Fig. 4 following figure is the master pattern of mixed sensitivity problem: where W1For performance weighting function, external environment is reacted Interference characteristic of the factor to pitch-variable system；W2Weighting function is exported for controller, indicates the voltage threshold controllable to system itself Value limits；W3For the weight of system robust；E is tracking error；R is an externally input.
(a), (b), (c), (d) of Fig. 5 is added after being based on Wind Turbine hydraulic variable pitch system H ∞ robust stabili Dynamic response curve, root locus, Nyquist curve and the bode figure of controller.Know that system rises known to (a) of Fig. 5 Time is obviously shortened, and just reaches steady-state value in 0.4s, and system non-overshoot in the process of running, the dynamic of pitch-variable system Can obviously it improve.Known to (b) of Fig. 5 when system changes from zero to infinite, root locus plot is all located in the left plane of S, And the pole of system is located at the left half axle of S axis, and system is stable.This system open loop pole is on the right side S known to (c) of Fig. 5 The number of half-plane is 0, and it is 0 that Nyquist curve, which surrounds the circle number of (- 1,0j), then control system is stablized.By (d) of Fig. 5 Bode schemes the gain that low frequency is improved after it can be seen that controller is added, and the bandwidth of cutoff frequency, Phase margin and system all obtains To significantly increasing.This shows the dynamic property that system not only ensure that and certain tracking accuracy, and enhances the Shandong of itself Stick performance.
(a), (b) of Fig. 6 is 0.85G0(s)、G0(s)、1.15G0(s) response curve and bode figure in the case of.In reality In the operation of border, due to aging, fatigue, abrasion etc., so that gradual change can occur for some parameters of hydraulic variable-pitch system.Pass through The study found that the loosening of oil level indicator pipeline, the damage of component, blade gets rusty and the failure of displacement sensor can all lead to ratio electromagnetism The parameters such as power current amplification factor, factor for enlarged flow, proportion directional pilot valve feedback detection spring rigidity change, finally It will affect hydraulic vane change electric-hydraulic proportion amplification coefficient K in modelt, feedback control coefficient Km.Here suitably change the defeated of transmission function Enter the displacement of the piston cylinder of electric current and output to change the size of transmission function, so that the transmission function of hydraulic variable-pitch model Cutoff frequency ωcChange within 15%, i.e., ssystem transfer function is in 0.85G0(s)~1.15G0(s) change between.When being In the case of system is ± 15% to the coverage of self model Parameters variation, pass through the dynamically track of the propeller pitch angle to hydraulic vane change It is emulated with bode, and obtains system and the cutoff frequency ω obtained after robust controller is addedcWith Phase margin γ.Analysis chart can Know: less, there is not overshoot, and pitch-variable system cutoff frequency ω in the final regulating time variation of performance graphc? Change between 6.52rad/s~8.74rad/s, be maintained at eventually itself -14%~+14% section in, illustrate designed control Device processed can well adapt to the uncertainty of inherent parameters.The result shows that when in the case where self model Parameter uncertainties, H ∞ controller can be such that hydraulic variable-pitch system is controlled within the scope of self norms.
Fig. 7, Fig. 8 be respectively hydraulic variable-pitch system external disturbance figure and three kinds in the case of propeller pitch angle comparison diagram.? Model parameter is accurate, when by external disturbances such as extraneous wind speed, temperature, weathers, in order to verify the robust control of set meter systems Device processed builds system model using Matlab software and carries out emulation experiment, and joined in systems to the inhibitory effect of interference The mechanical oscillation generated by extraneous random wind speed to hydraulic system, joined the vibrational waveform such as figure, and do not add control here Before device processed with added the simulated effect of PI controller and H ∞ robust control.It is obtained not plus when any controller, is being disturbed according to Fig. 5 Under dynamic, the speed of system tracks propeller pitch angle is very slow, and dynamic property becomes very poor, when the hydraulic variable-pitch that H ∞ robust control is added System is just able to maintain the stable operation of itself after 0.6s, can maintain itself robust stability and anti-interference quickly, And PI control system needs to maintain the stabilization of itself after 1s, and itself has 2% overshoot.It can thus be concluded that: the Shandong H ∞ Stick controller can make system by disturb influenced it is smaller, and can quickly eliminate disturbance to system export the unfavorable shadow of bring It rings.
Fig. 9 is the propeller pitch angle bode comparison diagram of PI control and H ∞ control.In model parameter accurately and without external interference situation Under, the present invention compares traditional PI control and H ∞ robust control.As shown in Figure 9, H ∞ robust control low-frequency gain is bright The aobvious PI that is greater than is adjusted, and the cutoff frequency of H ∞ robust control and PI adjusting is respectively ωc1=7.62rad/s, ωc2= 12.86rad/s, Phase margin are respectively γ1=74.9 °, γ2=87.2 °.It is not difficult to find out that H ∞ robust control cutoff frequency and PI is both greater than on Phase margin to adjust.It is hydraulic to conclude that H ∞ robust controller can be tracked quickly relative to PI adjusting as a result, Pitch-variable system guarantees that control object has certain dynamic property.Thus obtain H ∞ robust control pitch-variable system in model Parameter is accurate and without all regulating than PI in the case of external interference in quick tracking performance, precision and Stable Robust performance.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention Within.

Claims (6)

1. a kind of H ∞ robust control method of Wind Turbine hydraulic variable pitch system, which comprises the steps of:
Step 1, according to the model of hydraulic variable-pitch system, flow equation, hydraulic cylinder flow including electro-hydraulic proportion reversing valve connect The stress balance equation of continuous property equation, the stress equation of hydraulic cylinder and electric-hydraulic proportion pilot valve, acquires hydraulic variable-pitch system Transmission function；
Step 2, H ∞ robust control is applied to hydraulic variable-pitch system, obtains hydraulic variable-pitch system after H ∞ robust control It is input to three closed loop transfer function,s of tracking error, input voltage, reality output；
Step 3, weighting function is selected, converts mixed sensitivity optimization problem for H ∞ kinds of robust control problems, and according to step 2 Three closed loop transfer function,s acquire the generalized controlled object of the hydraulic variable-pitch system under mixed sensitivity optimization problem；
Step 4, according to the generalized controlled object of step 3 and weighting function, derive that the broad sense of hydraulic variable-pitch system is controlled The state space equation of object, and H ∞ controller K (s) is solved by the hinf function in Matlab robust control tool box.
2. the H ∞ robust control method of Wind Turbine hydraulic variable pitch system according to claim 1, which is characterized in that institute State the detailed process of step 1 are as follows:
Step 1.1, the flow equation of electro-hydraulic proportion reversing valve are as follows:
Qm=λmxv-λnPm
Wherein, QmFor electro-hydraulic proportion reversing valve flow, m3/s；λmFor the amplification coefficient of flow, m2/s；xvFor Valve Core for Proportional Direction Valve Displacement, mm；λnFor the amplification coefficient of flow rate pressure, m5/N·s；PmFor the load pressure of proportioning valve, N；
Step 1.2, hydraulic cylinder Flow continuity equation are as follows:
Wherein, AmFor hydraulic cylinder piston area, cm2；ymFor hydraulic cylinder piston displacement, mm；T indicates time, V0For hydraulic total appearance Product, m3；βcFor hydraulic cylinder volume elasticity coefficient；CmTo reveal coefficient；
Step 1.3, the stress equation of hydraulic cylinder are as follows:
Wherein, m is piston and load gross mass, kg；BQFor the viscous damping coefficient of piston and load movement；μ is the spring of load The dynamics coefficient born；FQFor load disturbance institute stress, N；
Step 1.4, the stress balance equation of electric-hydraulic proportion pilot valve are as follows:
Wherein, i is proportion electro-magnet input current, mA；KsfDetection spring rigidity, Nm/ are fed back for electric-hydraulic proportion pilot valve rad；KiFor proportion electro-magnet power-current amplification factor, N/mA；KbFor electric voltage displacement amplification coefficient, mA/mm；
Step 1.5, hydraulic variable-pitch system transter is obtained by step 1.1-1.4 are as follows:
Wherein, G0(s) hydraulic variable-pitch system transter is indicated；KtFor electric-hydraulic proportion amplification coefficient；KmFor feedback control system Number, mA/mm；S is the parameter of transmission function.
3. the H ∞ robust control method of Wind Turbine hydraulic variable pitch system according to claim 1, which is characterized in that step Rapid 2 closed loop transfer function, meets:
Wherein, S is sensitivity function；R, T is mending sensitivity function；I is unit transmission function；K (s) is hydraulic variable-pitch system Controller；G (s) is the generalized controlled object of hydraulic variable-pitch system；S is the parameter of transmission function.
4. the H ∞ robust control method of Wind Turbine hydraulic variable pitch system according to claim 1, which is characterized in that step Rapid 3 weighting function are as follows:
W1=180/ (25s+1), W2=0.008, W3=(10s+32)/320
Wherein, W1It is the weighting function to sensitivity function S；W2It is the weighting function to mending sensitivity function R；W3It is clever to mending The weighting function of sensitivity function T；S is the parameter of transmission function.
5. the H ∞ robust control method of Wind Turbine hydraulic variable pitch system according to claim 1, which is characterized in that step The generalized controlled object of the rapid 3 hydraulic variable-pitch system under mixed sensitivity optimization problem are as follows:
Wherein, z1It is an externally input the evaluation signal of r to tracking error e；z2It is an externally input the evaluation letter of r to system input u Number；z3It is an externally input the evaluation signal of r to reality output y；W1It is the weighting function to sensitivity function S；W2It is sensitive to mending Spend the weighting function of function R；W3It is the weighting function to mending sensitivity function T；I is unit transmission function；G (s) is hydraulic change The generalized controlled object of system for rotating；S is the parameter of transmission function；D is external disturbance；PnFor the broad sense of hydraulic variable-pitch system It is controlled to matrix.
6. the H ∞ robust control method of Wind Turbine hydraulic variable pitch system according to claim 1, which is characterized in that step The state space equation of the generalized controlled object of the rapid 4 hydraulic variable-pitch system are as follows:
Wherein, [x0,x1, x2,x3]-TFor the state variable of hydraulic variable-pitch system；z1It is an externally input the evaluation signal of r to tracking error e；z2For outside Input the evaluation signal of r to system input u；z3It is an externally input the evaluation signal of r to reality output y；W1It is to sensitivity function The weighting function of S；W2It is the weighting function to mending sensitivity function R；W3It is the weighting function to mending sensitivity function T；For control The final output of object processed；KtFor electric-hydraulic proportion amplification coefficient；KmFor feedback control coefficient, mA/mm；I is unit transmission function；d For external disturbance；An1、Bn1、Cn1、Dn1For W1Element, An2、Bn2、Cn2、Dn2For W2Element, An3、Bn3、Cn3、Dn3For W3Member Element.
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