CN111682815A - Wind power engine room yaw control method containing high-frequency interference reconstruction - Google Patents

Wind power engine room yaw control method containing high-frequency interference reconstruction Download PDF

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CN111682815A
CN111682815A CN202010552701.1A CN202010552701A CN111682815A CN 111682815 A CN111682815 A CN 111682815A CN 202010552701 A CN202010552701 A CN 202010552701A CN 111682815 A CN111682815 A CN 111682815A
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yaw
interference
adaptive
torque
self
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CN111682815B (en
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褚晓广
董同乐
宋蕊
孔英
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Qufu Normal University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/60—Control system actuates through
    • F05B2270/602—Control system actuates through electrical actuators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
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  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses a yaw control method of a wind power cabin containing high-frequency interference reconstruction, which aims at the problem that yaw stability is seriously influenced by weak damping, electromagnetic torque pulsation, external wind interference and the like of yaw of a wind power magnetic suspension cabin on wind, provides a composite control strategy based on combination of state feedback tracking control, self-adaptive uncertain item compensation and sliding mode self-adaptive interference observation based on a shaft radial magnetic field decoupling method and a rotating speed and current double closed-loop cascade control mechanism, adopts reconstruction of sliding mode items on yaw fast-varying interference such as torque pulsation and the like, introduces self-adaptive interference approaching slow-varying interference, coordinates feedforward rotating speed tracking control, and improves the interference suppression capability of a yaw motor; the self-adaptive uncertain compensation can optimize the ultra-low speed tracking control of the yaw motor and compensate the low-frequency pulsation of the yaw motor of the wind power cabin.

Description

Wind power engine room yaw control method containing high-frequency interference reconstruction
Technical Field
The invention relates to a yaw control method of a wind power cabin containing high-frequency interference reconstruction, in particular to a yaw wind-up control method applied to a horizontal axis wind power generation system after a cabin is stably suspended, which is used for solving the problems of yaw wind-up under the working conditions of yaw weak damping, torque pulsation and external strong interference and belongs to the field of wind power generation control.
Background
The fan yaw device is a key component of a large and medium horizontal axis wind power generation system, and can realize frontal windward of fan blades and increase wind energy capture power, but the problems of large fan yaw power consumption, high failure rate, poor wind precision and the like are often caused by a heavier fan cabin and a multi-motor multi-gear yaw transmission mechanism, so that a wind power magnetic suspension yaw system is provided for the new energy research institute of the university of mons veneris, and the yaw power consumption of the cabin is greatly reduced. In fact, a wind turbine cabin generally works on a tower with the height of 80 meters, once the cabin is suspended, a yaw system is in a weak damping state, electromagnetic torque pulsation, external wind interference and the like have great influence on yaw stability, an observer is adopted to observe and feed forward the external interference, the real-time performance of yaw rotating speed control can be effectively improved, however, buffeting exists in sliding mode control, the problem of buffeting is influenced, the running of the yaw at an ultra-low speed is influenced, a plurality of methods are developed for weakening the buffeting problem, particularly, the current observer mostly pays attention to slow-varying interference, interference derivatives are directly assumed to be zero, but actually, wind interference and torque pulsation interference have high-frequency fast-varying characteristics, and the yaw stability of the.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wind power cabin yaw control method with high-frequency interference reconstruction, which is characterized by comprising the following steps: the method adopts a wind power engine room suspension magnetic field and yaw magnetic field axial radial decoupling method, and cascade control of a yaw rotating speed ring and a current tracking ring in combination; the yaw rotating speed ring comprises a sliding mode self-adaptive interference observer, a self-adaptive uncertain item compensation and a state feedback controller, wherein the sliding mode self-adaptive interference observer is used for responding to external high-frequency wind interference and yaw torque ripple high-frequency interference components, reconstructing the high-frequency interference components by adopting a sliding mode adjusting item, carrying out online interference estimation on an interference slow-varying part by using a self-adaptive item, and feeding forward an observed quantity to the rotating speed controller; the yaw torque ripple is the deeper tooth socket of the rotor caused by the suspended weight of the wind power engine room, the air gap ripple of the stator and the rotor caused by yaw rotation influences the air gap magnetic field energy, a periodic variation model of the suspended air gap of the engine room and a mechanism description formula of the air gap magnetic field energy are established, and the torque ripple component is calculated and obtained on the basis of partial differentiation of the rotation angle of the rotor on the air gap magnetic field energy; the self-adaptive uncertain compensation is self-adaptively obtained according to the yaw rotating speed tracking error calculated in real time, the yaw tracking error caused by the time change of yaw model parameters on the yaw rotating speed and the variable working condition is designed on the basis of a yaw rotating speed error integral augmentation equation, and the self-adaptive uncertain compensation method comprises the following steps of:
step 1, analyzing and calculating yaw torque ripple mechanism
Firstly, performing Fourier expansion on reciprocal of air gap between stator and rotor
Figure BDA0002543080440000011
Wherein p is the magnetic pole pair number of the disk type motor rotor,minin order to minimize the air gap in suspension,maxis the maximum suspended air gap, alphamIs extremely wide bNAnd polar moment τNThe ratio of.
Secondly, based on the d/q rotating coordinate system, the air gap magnetic field energy between the fixed rotation room of the wind power engine room is constructed as
Figure BDA0002543080440000021
Wherein,
Figure BDA0002543080440000022
Figure BDA0002543080440000023
Figure BDA0002543080440000024
θmand the mechanical angle of the rotor is ia, ib and ic, the three-phase currents of the stator are respectively, and id and iq are respectively the excitation current and the torque current under dq rotation coordinates.
Thirdly, substituting the formula (1) into the formula (2) to obtain air gap magnetic field energy, and simultaneously obtaining partial derivatives of the air gap magnetic field energy based on the rotation angle of the rotor
Figure BDA0002543080440000025
Wherein, Te0For steady-state components of the electromagnetic torque of the yaw motor, TΔifElectromagnetic torque component, T, generated for the levitation currentcogIn order to be able to produce electromagnetic torque pulsations,
Figure BDA0002543080440000026
the average value of the current on two sides of the engine room is shown as follows:
Figure BDA0002543080440000027
step 2, constructing a yaw motor control model of the wind power cabin
Firstly, introducing a yaw position angle variable, and expanding a yaw dynamic model of the wind power cabin into
Figure BDA0002543080440000031
Wherein J is moment of inertia, ω is angular velocity, Te0Is a reference value of electromagnetic torque, TΔifElectromagnetic torque component, T, generated for the levitation currentcogFor pulsating torque, TyThe yaw load torque is defined as B, and the damping coefficient is defined as B.
Second, with thetaeAnd ω is a state variable xm1And xm2And are combined with
Figure BDA0002543080440000032
For virtual control input, the state space equation of the yaw motor rotating speed ring is as follows:
Figure BDA0002543080440000033
wherein,
Figure BDA0002543080440000034
Tl＝Tif0+Tcog-Ty-Bω。
step 3, carrying out deviation operation interference T in the formula (6)y、TΔif、TcogPerformance analysis
Figure BDA0002543080440000035
Wherein Cs is the wind energy utilization coefficient, rho0is the air density, V effective wind speed, α yaw angle, AsBlade side area, RnIs a yaw moment arm and is a yaw moment arm,
Figure BDA0002543080440000036
as rate of change of yaw load torque
Figure BDA0002543080440000037
ρ3The maximum value of the yaw load torque variation is fast-variability interference;
Figure BDA0002543080440000038
the yaw rate is changed due to the rotation angle of the rotor, but the yaw rate is ultralow (omega is less than or equal to 10rpm), so that the yaw rate is slowly changed interference;
Figure BDA0002543080440000039
for pulsating torque, the value of which increases with the k higher order harmonics, there are fast-varying and slow-varying disturbance torque ripples.
Step 4, designing a state feedback rotating speed controller with self-adaptive uncertain item compensation
First, defining a virtual variable according to equation (6)
Figure BDA00025430804400000310
For adaptive compensation of slow-to-disturbance torque, the virtual control input is set to
Figure BDA00025430804400000311
The rotation speed error augmentation model is:
Figure BDA00025430804400000312
secondly, designing a controller by adopting a state feedback method, wherein the virtual control input and the torque current control input are respectively
um1＝-KE＝[k1k2]·[∫(ωref-ω)dt,ωref-ω]T(8)
Figure BDA0002543080440000041
Thirdly, adopting a Lyapunov function to obtain the self-adaptive rate,
Figure BDA0002543080440000042
is fdcThe estimated value of the compensation term is,
Figure BDA0002543080440000043
for self-adaptive error compensation, a yaw motor rotating speed closed loop Lyapunov function is constructed as follows:
Figure BDA0002543080440000044
wherein η is a normal number, and the matrixes P and Q are symmetric positive definite matrixes satisfying ΛTP + Λ ═ Q, Λ is the desired system matrix, set not
Figure BDA0002543080440000045
It can be seen that the interference-compensated tracking controller at this adaptive rate progressively stabilizes under Lyapunov stabilization conditions.
Step 5, designing a yaw motor slideThe model self-adaptive disturbance torque observer introduces a sliding mode adjustment term Gnv pair yaw load torque TyAnd TcogReconstruction of the inner high-frequency part (G)nV is the sliding mode adjustment amount) for adjusting the matrix, and for TcogThe internal slowly-varying interference is formed by
Figure BDA0002543080440000046
Adaptive on-line estimation, introducing GleyThe fast convergence of the sliding mode observer is accelerated, and the sliding mode self-adaptive load torque observer of the yaw motor is expressed as follows:
Figure BDA0002543080440000047
wherein,
Figure BDA0002543080440000048
v＝-ρ3sgn(ey)(ρ3≥0)，Am0＝Am-Glc, presence of Gl＝[k1k2]So that
Figure BDA0002543080440000049
There is a symmetric positive definite matrix PmAnd full QmFoot Am0 TPm+PmAm0＝-Qm，Am0Is a desired system matrix derived based on state feedback control.
The invention has the beneficial effects that:
1) analyzing the torque ripple mechanism angle of a yaw motor of a fan engine room, deducing to obtain a yaw torque ripple component, and reasonably dividing the torque ripple according to high-frequency fast-changing interference and low-frequency slow-changing interference to lay a foundation for controlling the yaw rotating speed of the fan;
2) the state feedback rotating speed controller adopting the self-adaptive uncertain item mainly deals with parameter time varying and uncertain slow varying interference in ultra-low speed tracking control of the yaw motor, and improves the stability and reliability of yaw on wind rotating speed;
3) according to the sliding mode self-adaptive disturbance observer, a sliding mode adjusting item in the observer is adopted to reconstruct a load torque and a torque pulsation high-frequency component generated by external high-frequency wind, a disturbance slow-varying part is estimated on line by a self-adaptive part in the observer, the observed quantity is fed forward to a rotating speed controller, and the wind power yaw stability is greatly improved.
Drawings
FIG. 1 is a structural diagram of a stator and rotor magnetic slot of a yaw motor according to the present invention.
FIG. 2 is a schematic view of the yaw rate control of the present invention.
FIG. 3 is a tracking diagram of variable speed under constant excitation according to the present invention.
FIG. 4 is a comparative tracking plot of state feedback controller at constant excitation variable speed for the present invention.
Fig. 5 is a graph of constant rotational speed with weakened excitation according to the invention.
FIG. 6 is a graph of constant speed with field weakening for a state feedback controller in comparison to the present invention.
In the figure: the method comprises the following steps of 1-stator, 2-rotor, 3-adaptive uncertainty compensation and state feedback controller, 4-sliding mode adaptive disturbance torque observer, 5-torque current tracking controller, 6-excitation current tracking controller, 7-conversion of a two-phase rotating coordinate system (d/q axis coordinate system) into a three-phase static coordinate system (abc axis coordinate system), 8-conversion of the three-phase static coordinate system (abc axis coordinate system) into a two-phase rotating coordinate system (d/q axis coordinate system), 9-PWM driving circuit, 10-direct current bus and 11-wind power magnetic suspension yaw motor.
Detailed Description
A wind power cabin yaw control method containing high-frequency interference reconstruction is characterized by comprising the following steps: the method adopts the radial decoupling method of the wind power engine room suspension magnetic field and the yaw magnetic field axis, and cascade control of the combination of yaw rotating speed rings (3,4) and current tracking rings (5, 6); the yaw rotating speed ring comprises a sliding mode self-adaptive interference observer 4 and a self-adaptive uncertain item compensation and state feedback controller 3, wherein the sliding mode self-adaptive interference observer 4 is used for responding to external high-frequency wind interference and yaw torque ripple high-frequency interference components, reconstructing the high-frequency interference components by adopting a sliding mode adjusting item, carrying out online interference estimation on an interference slow-varying part by using a self-adaptive item, and feeding forward an observed quantity to the rotating speed controller; the yaw torque ripple is that the tooth space of the rotor 2 is deep due to the suspension weight of the wind power engine room, the air gap ripple of the stator and the rotor is caused by yaw rotation to influence the air gap magnetic field energy, a periodic variation model of the suspension air gap of the engine room and a mechanism description formula of the air gap magnetic field energy are established, and the torque ripple component is calculated and obtained on the basis of partial differentiation of the rotation angle of the rotor on the air gap magnetic field energy; the self-adaptive uncertain compensation 3 is self-adaptively obtains compensation according to the yaw rotating speed tracking error calculated in real time, the yaw tracking error caused by the time-varying yaw model parameter on the yaw rotating speed and the variable working condition, the state feedback controller 3 is designed based on a yaw rotating speed error integral augmentation equation, and the invention is further explained in detail by combining the attached drawings and examples. 2 simulation examples are respectively carried out to illustrate the effective effect of the invention. The simulation experiment platform parameters are shown in table 1.
TABLE 1 simulation verification platform parameters
Figure BDA0002543080440000051
Simulation example-variable speed tracking test under constant excitation, initial reference was 5rpm, 40s speed reference was 10rpm, and 70s speed reference was 5 rpm. The simulation results are shown in fig. 3 and 4, and the performance comparison is shown in table 2, and the results show that the control effect of the invention is better than that of a state feedback controller (5.3s, 5.5s, 1.0rpm) in terms of starting time, dynamic response speed and steady-state error.
TABLE 2 COMPARATIVE TABLE FOR TRACKING PERFORMANCE OF VARIABLE ROTATION-SPEED
Figure BDA0002543080440000061
Simulation example two excitation weakening yaw speed stability control test, 40s-46s weaken flux linkage coefficient from 0.175V.s (rated flux linkage coefficient) to 0.008 V.s. The simulation results are shown in fig. 5 and fig. 6, and the performance comparison table 3 shows that the control effect of the invention is superior to that of a state feedback controller (4.5s, 0.2rpm, 3.1rpm and 4.8s) in the aspects of starting time, overshoot, rotation speed fluctuation, flux weakening recovery time and the like.
TABLE 3 Weak magnetism driftage speed stable control contrast table
Figure BDA0002543080440000062

Claims (1)

1. A wind power cabin yaw control method containing high-frequency interference reconstruction is characterized by comprising the following steps: the method adopts a wind power engine room suspension magnetic field and yaw magnetic field axial radial decoupling method, and cascade control of a yaw rotating speed ring and a current tracking ring in combination; the yaw rotating speed ring comprises a sliding mode self-adaptive interference observer, a self-adaptive uncertain item compensation and a state feedback controller, wherein the sliding mode self-adaptive interference observer is used for responding to external high-frequency wind interference and yaw torque ripple high-frequency interference components, reconstructing the high-frequency interference components by adopting a sliding mode adjusting item, carrying out online interference estimation on an interference slow-varying part by using a self-adaptive item, and feeding forward an observed quantity to the rotating speed controller; the yaw torque ripple is the deeper tooth socket of the rotor caused by the suspended weight of the wind power engine room, the air gap ripple of the stator and the rotor caused by yaw rotation influences the air gap magnetic field energy, a periodic variation model of the suspended air gap of the engine room and a mechanism description formula of the air gap magnetic field energy are established, and the torque ripple component is calculated and obtained on the basis of partial differentiation of the rotation angle of the rotor on the air gap magnetic field energy; the self-adaptive uncertain compensation is self-adaptively obtained according to the yaw rotating speed tracking error calculated in real time, the yaw tracking error caused by the time change of yaw model parameters on the yaw rotating speed and the variable working condition is designed on the basis of a yaw rotating speed error integral augmentation equation, and the self-adaptive uncertain compensation method comprises the following steps of:
step 1, analyzing and calculating yaw torque ripple mechanism
Firstly, performing Fourier expansion on reciprocal of air gap between stator and rotor
Figure FDA0002543080430000011
Wherein p is the magnetic pole pair number of the disk type motor rotor,minin order to minimize the air gap in suspension,maxis the maximum suspended air gap, alphamIs extremely wide bNAnd polar moment τNThe ratio of (A) to (B);
secondly, based on the d/q rotating coordinate system, the air gap magnetic field energy between the fixed rotation room of the wind power engine room is constructed as
Figure FDA0002543080430000012
Wherein,
Figure FDA0002543080430000013
Figure FDA0002543080430000014
Figure FDA0002543080430000015
θmthe mechanical angle of a rotor is ia, ib and ic are stator three-phase currents respectively, and id and iq are excitation and torque currents under dq rotation coordinates respectively;
thirdly, substituting the formula (1) into the formula (2) to obtain air gap magnetic field energy, and simultaneously obtaining partial derivatives of the air gap magnetic field energy based on the rotation angle of the rotor
Figure FDA0002543080430000021
Wherein, Te0For steady-state components of the electromagnetic torque of the yaw motor, TΔifElectromagnetic torque component, T, generated for the levitation currentcogIn order to be able to produce electromagnetic torque pulsations,
Figure FDA0002543080430000022
the average value of the current on two sides of the engine room is shown as follows:
Figure FDA0002543080430000023
step 2, constructing a yaw motor control model of the wind power cabin
Firstly, introducing a yaw position angle variable, and expanding a yaw dynamic model of the wind power cabin into
Figure FDA0002543080430000024
Wherein J is moment of inertia, ω is angular velocity, Te0Is a reference value of electromagnetic torque, TΔifElectromagnetic torque component, T, generated for the levitation currentcogFor pulsating torque, TyThe yaw load torque is, and B is a damping coefficient;
second, with thetaeAnd ω is a state variable xm1And xm2And are combined with
Figure FDA0002543080430000025
For virtual control input, the state space equation of the yaw motor rotating speed ring is as follows:
Figure FDA0002543080430000026
wherein,
Figure FDA0002543080430000027
Tl＝Tif0+Tcog-Ty-Bω；
step 3, carrying out deviation operation interference T in the formula (6)y、TΔif、TcogPerformance analysis
1)
Figure FDA0002543080430000031
Wherein Cs is the wind energy utilization coefficient, rho0is the air density, V effective wind speed, α yaw angle, AsBlade side area, RnIs a yaw moment arm and is a yaw moment arm,
Figure FDA0002543080430000032
as rate of change of yaw load torque
Figure FDA0002543080430000033
ρ3The maximum value of the yaw load torque variation is fast-variability interference;
2)
Figure FDA0002543080430000034
the yaw rate is changed due to the rotation angle of the rotor, but the yaw rate is ultralow (omega is less than or equal to 10rpm), so that the yaw rate is slowly changed interference;
3)
Figure FDA0002543080430000035
the torque is a pulsating torque, the value of the torque is increased along with the high-order harmonic of k, and fast-changing and slow-drying disturbing torque pulsation exists;
step 4, designing a state feedback rotating speed controller with self-adaptive uncertain item compensation
In a first step, a virtual variable E [ ([ omega ] (ω ═ je) is defined according to formula (6)ref-ω)dt,ωref-ω]T，
Figure FDA0002543080430000036
For adaptive compensation of slow-to-disturbance torque, the virtual control input is set to
Figure FDA0002543080430000037
The rotation speed error augmentation model is:
Figure FDA0002543080430000038
secondly, designing a controller by adopting a state feedback method, wherein the virtual control input and the torque current control input are respectively
um1＝-KE＝[k1k2]·[∫(ωref-ω)dt,ωref-ω]T(8)
Figure FDA0002543080430000039
Thirdly, adopting a Lyapunov letterThe number is calculated to obtain the self-adaptive rate,
Figure FDA00025430804300000310
is fdcThe estimated value of the compensation term is,
Figure FDA00025430804300000311
for self-adaptive error compensation, a yaw motor rotating speed closed loop Lyapunov function is constructed as follows:
Figure FDA00025430804300000312
wherein η is a normal number, and the matrices P and Q are symmetric positive definite matrices satisfying LambdaTP + Λ ═ Q, Λ is the desired system matrix, and the uncertainty adaptation law is set to
Figure FDA00025430804300000313
Derived from formula (10)
Figure FDA00025430804300000314
Therefore, the tracking controller of the interference compensation under the adaptive rate is gradually stable under the Lyapunov stable condition;
step 5, designing a yaw motor sliding mode self-adaptive disturbance torque observer, and introducing a sliding mode adjustment item Gnv pair yaw load torque TyAnd TcogReconstruction of the inner high-frequency part (G)nV is the sliding mode adjustment amount) for adjusting the matrix, and for TcogThe internal slowly-varying interference is formed by
Figure FDA00025430804300000315
Adaptive on-line estimation, introducing GleyThe fast convergence of the sliding mode observer is accelerated, and the sliding mode self-adaptive load torque observer of the yaw motor is expressed as follows:
Figure FDA0002543080430000041
wherein,
Figure FDA0002543080430000042
v＝-ρ3sgn(ey)(ρ3≥0)，Am0＝Am-Glc, presence of Gl＝[k1k2]So that
Figure FDA0002543080430000043
There is a symmetric positive definite matrix PmAnd full QmFoot Am0 TPm+PmAm0＝-Qm，Am0Is a desired system matrix derived based on state feedback control.
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