潮流能透平装置电液比例变桨距控制系统设计及其试验

Design and Experiment of an Electro-hydraulic Proportional Variable Pitch Control System for Tidal Current Turbines

潮流能透平装置的变桨距系统是潮流能商业化应用的关键性部件。在分析潮流能变桨距系统特点的基础上,设计了一套新型的液压式变桨距系统。系统由液压缸前置的齿轮齿条式执行机构及基于电液比例技术的液压控制系统组成。采用连续域—离散化的方法设计了液压控制系统并在厂房内开展了开环及闭环变桨试验。试验结果显示系统的调桨角度达到188.3°,最大变桨速度为3.36°/s,验证了系统变桨对流的功能。试验发现,采用数字比例—积分—微分(PID)算法的控制系统响应速度快,能够实现节距角的精确控制,阶跃响应调整时间小于1s,稳态误差小于0.05°。

The variable pitch control system of tidal current turbines is one of the key components for the commercial application of tidal current energy. Based on the analysis of the tidal current pitch control system’s characteristics,a novel hydraulic pitch control system has been designed. The system consists of a rack-and-pinion actuator mechanism with a front-located hydraulic cylinder,and an electro-hydraulic proportional control subsystem which is designed using discretization method. A prototype system has been built and tested in a workshop. Test results show that the pitch adjustment range of the designed system is 188.3° with a maximal pitching speed of 3.36 °/s,which validates the bidirectional running function of the system. In addition,it is found that the pitch control system with a numerical PID algorithm has fast response and provides precise control of the pitch angle. The step response adjustment time and steady-state error of the system is less than 1 s and 0.05° respectively.