风电磁悬浮偏航系统悬浮及切换控制研究

发布时间：2018-04-10 12:47

本文选题：磁悬浮偏航系统 + 悬浮控制　；参考：《曲阜师范大学》2017年硕士论文

【摘要】：在环境污染尤其是雾霾天气日益严重的今天,可再生能源发电备受关注。风力发电作为一种清洁、具有广阔发展前景的可再生能源,一直是各发达国家能源发展战略的优先发展方向。MW级风力发电机组中的偏航系统是水平轴风力发电机必不可少的组成部分。本文介绍了一种新的磁悬浮偏航系统,研究了其中的悬浮控制问题以及模态切换问题。本文主要内容可归纳如下:1)磁悬浮偏航系统悬浮和降落过程中的悬浮控制研究本文提出了一种基于非线性干扰观测器的鲁棒控制器用来控制磁悬浮偏航系统的悬浮和降落过程从而提高磁悬浮偏航系统在起浮和降落过程中的稳定性。首先建立磁悬浮偏航系统和作用在系统上的侧风力的动态模型,随后推导出其状态空间模型。其次,考虑到磁悬浮偏航系统存在的内部未知干扰,通过采用backstepping方法设计一个基于非线性干扰观测器的鲁棒控制器使系统的输出能渐近跟踪参考轨迹,磁悬浮偏航系统起浮和降落的速度全局渐进收敛到期望值。最后,仿真结果证明所提控制器具有良好的鲁棒性,同时磁悬浮偏航系统可以实现在起浮和降落过程中平滑与稳定运行,因此,可以证实所提控制器的可行性和有效性。2)磁悬浮偏航系统模态切换研究由于磁悬浮偏航系统运行过程中会进行动态悬浮和偏航悬浮之间的切换,因此为了保证磁悬浮偏航系统运行的稳定,需要研究磁悬浮偏航系统的模态切换稳定性问题。本文考虑磁悬浮系统的两个运行模态,即动态悬浮子系统和偏航悬浮子系统。为了保证子系统的稳定运行,首先,采用backstepping方法设计子系统的控制器;其次,鉴于子系统运行稳定不能保证切换系统的稳定,本文采用基于平均驻留时间的方法设计切换规则,使得磁悬浮偏航系统满足切换稳定的要求;最后仿真验证了所设计的控制器以及切换规则的有效性。
[Abstract]:With the increasing environmental pollution, especially haze weather, renewable energy power generation has attracted much attention.Wind power generation is a kind of clean and promising renewable energy.The yaw system is an indispensable part of the horizontal axis wind turbine in the development strategy of the developed countries.In this paper, a new maglev yaw system is introduced. The levitation control problem and mode switching problem are studied.The main contents of this paper can be summarized as follows: (1) suspension control of maglev yaw system during suspension and landing. In this paper, a robust controller based on nonlinear disturbance observer is proposed to control the suspension of maglev yaw system.The floating and falling process can improve the stability of maglev yaw system during floating and falling.Firstly, the dynamic model of maglev yaw system and side wind force acting on the system is established, and then the state space model is derived.Secondly, considering the existence of unknown internal disturbances in maglev yaw system, a robust controller based on nonlinear disturbance observer is designed by using backstepping method to enable the output of the system to track the reference trajectory asymptotically.The speed of floating and falling of maglev yaw system converges globally to expected value.Finally, the simulation results show that the proposed controller has good robustness, and the maglev yaw system can run smoothly and stably in the process of floating and falling.The feasibility and effectiveness of the proposed controller. 2) Modal switching of maglev yaw system; because the dynamic suspension and yaw suspension switch will be carried out during the operation of the maglev yaw system,Therefore, in order to ensure the stability of the maglev yaw system, it is necessary to study the mode switching stability of the maglev yaw system.In this paper, we consider two modes of maglev system, that is, dynamic suspension subsystem and yaw suspension subsystem.In order to ensure the stable operation of the subsystem, firstly, the controller of the subsystem is designed by using the backstepping method; secondly, in view of the fact that the stability of the subsystem cannot guarantee the stability of the switching system, the method based on the average resident time is adopted to design the switching rules.The maglev yaw system can meet the requirements of switching stability. Finally, the simulation results show the effectiveness of the proposed controller and switching rules.
【学位授予单位】：曲阜师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM315;TP273

【参考文献】