CN112696311B - Variable-boundary-layer-based quasi-sliding mode variable-pitch optimization control method - Google Patents
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Abstract
A variable-boundary-layer-based quasi-sliding mode variable-pitch optimization control method comprises the following steps: firstly, carrying out linearization treatment on a system model; (2) designing a sliding mode surface function as follows; (3) designing a quasi-sliding mode controller of a variable boundary layer; (4) carrying out equivalent first-order inertia link on the variable-pitch mechanism; (5) And a novel quasi-sliding mode control rate based on a variable boundary layer can be obtained. On the basis of the traditional sliding mode variable pitch control effect, the invention provides a quasi-sliding mode variable pitch control strategy based on a variable boundary layer, namely the boundary layer of the quasi-sliding mode variable pitch control is not fixed and is changed in a real-time tracking manner according to the state of a system. And the buffeting of the pitch angle is weakened on the basis of ensuring the stability of the rotating speed and the power. The effectiveness of the provided control strategy is verified by simulating one direct-drive permanent magnet synchronous wind driven generator.
Description
Technical Field
The invention belongs to a control algorithm, and particularly relates to a variable-boundary-layer-based quasi-sliding-mode variable-pitch optimization control method.
Background
At present, wind energy is increasingly paid attention to as a main renewable energy source due to good effects on environment and social economy. In recent years, a variable-speed variable-pitch direct-drive permanent magnet wind generating set has become a mainstream model of a large-scale grid-connected wind generating set. Because wind speed has the characteristics of unexpected and random fluctuation and the like, when the wind speed is larger than the rated value, in order to keep the stress of mechanical components (blades, a gearbox, a shaft and the like) of the wind turbine within a limited range and limit the output power and the rotating speed of the wind turbine within a safe range, a pitch control is added to adjust the wind turbine.
The variable pitch control technology is one of key technologies for controlling the wind generating set, and scholars at home and abroad deeply research variable pitch control strategies, for example, intelligent control algorithms such as fuzzy control, single neuron self-adaptive PID, sliding mode control and neural network control are introduced into the variable pitch control strategies. The sliding mode variable structure control has the advantages of good robustness, quick response, insensitivity to disturbance, no need of system online identification, easiness in implementation and the like, and is widely applied to a variable pitch control system of a wind turbine generator. However, the traditional sliding mode control has the problem that the traditional sliding mode control is difficult to strictly slide along the sliding surface towards the balance point, but passes through the two sides of the sliding surface back and forth, so that buffeting is generated.
An author is Qin and bin, and is Happy and the like, and an article ' wind turbine generator variable pitch sliding mode control based on RBF network ' published in the report of electrotechnical science ' provides a variable pitch sliding mode control scheme based on an RBF neural network, and obtains good effect on the aspect of reducing rotating speed fluctuation, but the design of a controller is complex and is difficult to realize.
The author is high and rigid, and new in Wangzhou, and is published in the fuzzy sliding mode robust controller design and simulation of the large-scale wind turbine generator in the article of Chinese Motor engineering newspaper, sliding mode control and fuzzy control are combined to form the fuzzy sliding mode controller, so that a good control effect is obtained, but the control rule of the fuzzy controller is fixed and unchanged relative to a changed controlled object. Therefore, the obtained amount of blur control is difficult to ensure the optimum.
An author is Zhanglei, and is published in an article of application of sliding mode variable structure control in variable pitch control of a wind generating set in Electrical application, and provides a control system for controlling a variable pitch controller based on a quasi-sliding mode, so that state points in a certain range are attracted to a certain adjacent area of a tangent plane, structural transformation is carried out on a boundary layer, buffeting is weakened to a certain extent, and the influence of the thickness of the boundary layer on the control effect is not considered.
The author is Shashuai, yangtze, gunn, and discloses a 'sliding mode variable pitch control for large wind turbine generator system for restraining load' in the article of 'report on Electrical and technology', proposes sliding mode variable pitch control for restraining fatigue load of the wind turbine generator system, and has good robustness.
Disclosure of Invention
The invention aims to provide a variable-boundary-layer-based quasi-sliding-mode variable-pitch optimization control method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a variable-boundary-layer-based quasi-sliding mode variable-pitch optimization control method comprises the following steps:
(1) Firstly, carrying out linearization processing on a system model:
(2) Designing a sliding mode surface function as follows:
(3) Designing a quasi-sliding mode controller of a variable boundary layer as follows:
wherein sgn (S) is a switching function,
(4) Equivalent first-order inertia link of the variable-pitch mechanism:
wherein τ is a time constant for pitch execution;
(5) Novel quasi-sliding mode control rate based on variable boundary layer can be obtained
Wherein, the first and the second end of the pipe are connected with each other,
δ is expressed as the thickness of the boundary layer.
On the basis of the traditional sliding mode variable pitch control effect, a quasi-sliding mode variable pitch control strategy based on a variable boundary layer is provided, namely the boundary layer of the quasi-sliding mode variable pitch control is not fixed and is changed in a real-time tracking mode according to the state of a system. On the basis of ensuring the stability of the rotating speed and the power, the buffeting of the pitch angle is weakened at the same time. The effectiveness of the provided control strategy is verified through simulating one direct-drive permanent magnet synchronous wind driven generator.
Drawings
Fig. 1 is a structural block diagram of a sliding mode variable pitch control.
FIG. 2 is a flow chart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Therefore, the following detailed description of the embodiments of the present invention, provided in the accompanying drawings, is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the present invention, and all other embodiments, which can be obtained by a person of ordinary skill in the art based on the embodiments of the present invention without inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The variable speed variable pitch direct-drive permanent magnet synchronous wind driven generator generally comprises a wind turbine, a transmission system and a generator. The mechanical power of the blade for capturing wind energy power and converting the wind energy power can be expressed by the formula (1):
wherein ρ is an air density; c p The wind energy utilization coefficient; a is the swept area of the fan blade; v w Is the wind speed. According to Betz limit, coefficient of wind energy utilization C p Is 0.59, and can be approximated by equation (2):
where λ is the tip speed ratio and β represents the pitch angle.
Fan output torque T m ：
w r The rotating speed of the fan, and R is the radius of the wind wheel of the wind turbine.
Dynamic model of transmission system:
in the formula (4), J is the rotational inertia of the generator; t is e Is the electromagnetic torque of the generator; and B is the damping coefficient of the fan.
Usually, the pitch actuator is implemented by a hydraulic device or a motor driving system, and due to the large inertia moment of the fan blade, the pitch actuator can be equivalent to a first-order inertia link:
β r the set value of the pitch angle obtained by pitch control is obtained; tau is the time constant of the variable pitch execution, s is the sign of Laplace transform, has no special meaning, and represents a first-order inertia link.
In the aspect of controller design, for traditional sliding mode pitch control, due to nonlinearity of a wind power system, before the pitch controller is designed, linearization processing needs to be carried out on a system model.
From the equation (3), the fan torque T m Is about w r 、v w And a three variable function of β:
T m ＝f(ω r ,v ω ,β) (6)
therefore, formula (4) also relates to w r 、v w And a three variable function of β:
equation (7) can also be expressed as
Considering that the wind power system adopts maximum power tracking control and the wind energy utilization coefficient C when the wind power system is below the rated wind speed p Track its maximum value C pmax The tip speed ratio lambda is optimal, so the electromagnetic torque T of the generator e Can be expressed as:
where k is a constant, λ opt Represents the optimum tip speed ratio, and is a constant.
When the fan operates at rated wind speed, the operator can operate the fan at the momentAs a point (w) r0 ,v w0 ,β 0 ) At this point, the Taylor expansion and omission of higher order terms may result:
F(ω r ,v ω ,β)≈C+aΔω r +bΔv w +cΔβ
wherein: c is a constant after Taylor's formula expansion.
And (3) simultaneously performing derivation on two sides of the formula (9):
the system is subjected to sliding mode variable pitch control, and the sliding mode surface function is
Therefore, the method comprises the following steps:
substituting formula (11) into formula (13):
designing a sliding mode controller by adopting a constant speed approach rate:
wherein M is a constant greater than 0, and is related to the approach speed of the approach rate; sgn (S) is the switching function:
because the variable pitch actuating mechanism can be equivalent to a first-order inertia link, the variable pitch actuating mechanism comprises the following components:
wherein, beta r And representing the given pitch angle obtained by the controller, wherein beta is the actual pitch angle passing through the pitch changing execution structure.
The combined vertical type (14), (15) and (17) can obtain a sliding mode control rate:
so that it can be deduced that:
meets the stability condition of Lyapunov.
The control schematic diagram is shown in fig. 1, the input of the controller is the rotation speed error and the derivative thereof, the output is the increment delta beta of the pitch angle, and the beta is output after passing through the pitch-changing actuating mechanism.
For quasi-sliding mode variable pitch control, although sliding mode control has the advantages of good robustness, fast response, insensitivity to disturbance and the like, in actual application, due to the existence of a discontinuous switching function in a sliding mode variable structure, a phenomenon of buffeting of a control signal can be caused. This means that during the pitch changing process, the pitch changing actuating mechanism will generate buffeting, which obviously increases the fatigue of the pitch changing actuating mechanism and the abrasion among components, and shortens the service life of the pitch changing actuating mechanism.
In order to solve the problems caused by discontinuous switching functions, compared with the traditional sliding mode variable structure control, a boundary layer concept is introduced, namely, an ideal sliding mode is replaced by a certain delta neighborhood of a sliding mode switching surface. This means that the conventional transfer switch function is replaced by a continuous function, and the relay characteristic is used for continuity:
wherein δ is expressed as the thickness of the boundary layer, and when δ =0, it is consistent with the switching function of the conventional sliding mode variable structure.
The sliding mode control rate is:
for variable boundary layer quasi-sliding mode variable pitch control, after quasi-sliding mode variable pitch control is adopted, the problem of control signal buffeting caused by discontinuous switching functions is fundamentally solved; but sizing the thickness of the boundary layer is a new problem.
It can be deduced from the equation (20) that when the value of δ is large, the value of θ (S) is small, which reduces buffeting of control signals, but also reduces the speed of pitch angle change, which results in that the requirement of control accuracy cannot be guaranteed when the wind speed changes, and the error of rotating speed is large; when the value of delta is small, the control precision of variable pitch is ensured, but the larger value of theta (S) causes larger buffeting of control signals.
In order to balance the smoothness of the control signal and the pitch control accuracy, and according to the relation between the thickness of the boundary layer and the control accuracy and the smoothness of the control signal, the concept of changing the boundary layer is introduced. When the rotating speed error is large, a small boundary layer is adopted to ensure the control precision; when the rotating speed error is small, a larger boundary layer is adopted to ensure the smoothness of the control signal. Therefore, the rotating speed error is in inverse proportion to the thickness of the boundary layer, and a new switching function is designed according to the rotating speed error:
wherein K is a controller parameter, constant
On the basis of the traditional sliding mode variable pitch control, aiming at the problem of buffeting of a variable pitch actuating mechanism, a quasi-sliding mode variable pitch controller is designed, and the influence of the thickness of a boundary layer on the control effect is analyzed; through comprehensive analysis, a variable boundary layer quasi-sliding mode variable pitch controller capable of achieving multi-objective optimization is finally designed. The provided control strategy is simulated under the step wind speed and the random wind speed, and the simulation result shows that compared with the traditional sliding mode variable pitch control strategy, the variable boundary layer quasi-sliding mode variable pitch control is adopted, the buffeting of a variable pitch actuating mechanism can be reduced while the rotating speed and the power are controlled to be stable, the probability of the occurrence of faults of a variable pitch system can be reduced, and the service life of the variable pitch system can be effectively prolonged. In conclusion, the control strategy has good control performance, is beneficial to reducing the fault probability of the wind power generation system, can effectively reduce the shutdown times, and has good social and economic benefits; meanwhile, the control strategy principle is simple and easy to realize.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of simplicity of description, all possible combinations of the technical features in the embodiments described above are not described, however, as long as there is no contradiction between the combinations of the technical features, the combinations should be considered as being within the scope described in the present specification, and when there is a contradiction between the combinations of the technical features or cannot be realized, the combinations of the technical features should not be considered as being present, and are not within the scope of protection claimed by the present invention. Also, it will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the spirit of the principles of the invention.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be considered as the protection scope of the present invention.
Claims (1)
1. A variable-boundary-layer-based quasi-sliding mode variable-pitch optimization control method is characterized by comprising the following steps:
(1) Firstly, carrying out linearization processing on a system model:
(2) Designing a sliding mode surface function as follows:
(3) Designing a quasi-sliding mode controller of a variable boundary layer as follows:
wherein sgn (S) is a switching function,
(4) Equivalent first-order inertia link of the variable-pitch mechanism:
where β denotes the pitch angle, β r Is a given value of a pitch angle obtained by pitch control; τ is the time constant of pitch execution;
(5) Novel quasi-sliding mode control rate based on variable boundary layer can be obtained
Wherein the content of the first and second substances,
δ is expressed as the thickness of a boundary layer, and when δ =0, the boundary layer is consistent with a switching function of a traditional sliding mode variable structure;
the sliding mode control rate is:
wherein, beta r Representing a given pitch angle, V, obtained after the controller w Is the wind speed, w r For the fan speed, τ is the time constant for pitch execution,
at the same time, introducing a variable boundary layer: when the error of the rotating speed is large, a small boundary layer is adopted to ensure the control precision; when the rotating speed error is small, a larger boundary layer is adopted to ensure the smoothness of the control signal; therefore, the rotation speed error is in inverse proportion to the thickness of the boundary layer, and a new switching function is designed according to the inverse proportion:
wherein K is a controller parameter and is a constant.
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