风力机独立桨距角鲁棒自适应跟踪控制

Robust Adaptive Tracking Control of Individual Pitch for Wind Turbines

针对风力机非线性电动桨叶系统,分析了桨叶承受的力矩和空气动力造成的不平衡载荷。根据动量矩定理,建立了具有时变不确定项的桨叶动力学模型。设计了风力机独立桨距角鲁棒自适应跟踪控制器,给出了控制器自适应参数的自适应更新率算法。利用李雅普诺夫稳定性理论,证明了桨叶控制系统的稳定性。采用Matlab/Simulink软件建立风力机桨叶动力学模型,仿真验证了控制策略的有效性和可行性。结果表明,在勿需知道桨叶系统时变不确定参数和不平衡载荷的情况下,所设计的控制器能够快速实现独立桨距角跟踪控制,控制器对复杂非线性桨叶模型表现出良好鲁棒控制效果。

The torques acting on the blades and the aerodynamic-caused unbalanced loads are analyzed for nonlinear motor-driven blade system. Based on the angular momentum theorem, a dynamic model is established for the uncertain time-variable system. A robust adaptive tracking controller of individual pitch is designed for wind turbine, and the adaptive algorithm of undated parameters is introduced. The stability of the blade control system is proved by using Lyapunov stability theory. In order to verify the effectiveness of the control strategy, a wind turbine blade dynamics simulation model is built by using Matlab/Simulink software. The simulation results show that the designed controller can quickly and accurately achieve the individual pitch angle tracking control task under the condition of uncertain time-variable system parameters and the impact of unbalanced loads. The controller is proved to have good and robust control effect for complex nonlinear blade model.