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基于动态二阶滑模的风电机组独立变桨距系统同步控制方法

Synchronous Control Method for Independent Variable Pitch System of Wind Turbine Based on Dynamic Second-order Sliding Mode

  • 摘要: 采用固定增益线性反馈控制时,仅依赖系统局部线性化模型调节桨距角,忽略了变桨系统的强非线性、参数时变性及多扰动耦合特性,导致复杂工况下同步控制精度较低,因此提出基于动态二阶滑模的风电机组独立变桨距系统同步控制方法。以机械转矩重构为核心,结合变桨电机力矩特性、叶片惯性载荷及桨距角执行机构动态特性,构建风电机组独立变桨距系统动力学模型。针对系统非线性不确定特性,通过深入分析动力学模型获取状态方程,进而定义二阶滑模面与滑模输出,设计出对参数变化和外部干扰不敏感的动态二阶滑模控制器。基于动态二阶滑模控制器特性,将不确定性因素表示为向量,利用其仅需系统状态误差即可设计控制律的优势,制定实时调整控制输入、确保桨距角同步变化的控制策略。实验表明,该方法将叶片偏移量峰值稳定控制在0.5×10-6 mm以内,桨距角跟踪精度显著优于对比方法。

     

    Abstract: When using fixed gain linear feedback control, relying only on the local linearization model of the system to adjust the pitch angle ignores the strong nonlinearity, time-varying parameters, and multi disturbance coupling characteristics of the pitch system, resulting in low synchronization control accuracy under complex operating conditions. A synchronous control method for wind turbine independent pitch control system based on dynamic second-order sliding mode is proposed to address the above issues. Based on mechanical torque reconstruction as the core, combined with the torque characteristics of the pitch motor, blade inertia load, and dynamic characteristics of the pitch angle actuator, a dynamic model of the independent pitch system for wind turbines is constructed. In response to the nonlinear and uncertain characteristics of the system, the state equation is obtained through in-depth analysis of the dynamic model, and the second-order sliding mode surface and sliding mode output are defined. A dynamic second-order sliding mode controller that is insensitive to parameter changes and external disturbances is designed. Based on the characteristics of a dynamic second-order sliding mode controller, uncertainty factors are represented as vectors, and the advantage of designing control laws with only system state errors is utilized to develop a control strategy that adjusts control inputs in real time and ensures synchronous changes in pitch angle. The experiment shows that this method stably controls the peak blade offset within 0.5 ×10-5 mm, and the pitch angle tracking accuracy is significantly better than the comparative method.

     

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