Blade pitch control of straight-bladed vertical axis wind turbine

Collective pitch control and individual pitch control algorithms were present for straight-bladed vertical axis wind turbine to improve the self-starting capacity.Comparative analysis of straight-bladed vertical axis wind turbine(SB-VAWT) with or without pitch control was conducted from the aspects of aerodynamic force,flow structure and power coefficient.The computational fluid dynamics(CFD) prediction results show a significant increase in power coefficient for SB-VAWT with pitch control.According to the aerodynamic forces and total torque coefficient obtained at various tip speed ratios(TSRs),the results indicate that the blade pitch method can increase the power output and decrease the deformation of blade;especially,the total torque coefficient of blade pitch control at TSR 1.5 is about 2.5 times larger than that of fixed pitch case.Furthermore,experiment was carried out to verify the feasibility of pitch control methods.The results show that the present collective pitch control and individual pitch control methods can improve the self-starting capacity of SB-VAWT,and the former is much better and its proper operating TSRs ranges from 0.4 to 0.6.

Fault tolerant control of electric pitch control system based on single current detection

In view of the current sensors failure in electric pitch system,a variable universe fuzzy fault tolerant control method of electric pitch control system based on single current detection is proposed.When there is single or two-current sensor fault occurs,based on the proposed method the missing current information can be reconstructed by using direct current（DC）bus current sensor and the three-phase current can be updated in time within any two adjacent sampling periods,so as to ensure stability of the closed-loop system.And then the switchover and fault tolerant control of fault current sensor would be accomplished by fault diagnosis method based on adaptive threshold judgment.For the reconstructed signal error caused by the modulation method and the main control target of electric pitch system,a variable universe fuzzy control method is used in the speed loop,which can improve the anti-disturbance ability to load variation,and the robustness of fault tolerance system.The results show that the fault tolerant control method makes the variable pitch control system still has ideal control characteristics in case of sensor failure although part of the system performance is lost,thus the correctness of the proposed method is verified.

Research on Pitch Control Strategies of Horizontal Axis Tidal Current Turbine

Based on blade element momentum theory and generator characteristic test,a dynamic simulation model of 150 kW horizontal-axis tidal current turbine was established.The matching of the dynamic characteristics between the turbine and generator under various current velocities is studied,and the influence of the pitch angle on the matching is analyzed.For the problem of maximum power output in case of low current speed and limiting power in high current speed,the relation between optimal pitch angle and output power is analyzed.On the basis of dynamic characteristic analysis,the variable pitch control strategy is developed.The performance of the turbine under various tidal conditions is simulated.The research results show that the designed controller enables the turbine to operate efficiently under the condition of low current speed,and achieve the goal of limited power at high current speed.

Modeling and Analyzing Dynamic Response for An Offshore Bottom-Fixed Wind Turbine with Individual Pitch Control

The asymmetric or periodically varying blade loads resulted by wind shear become more significant as the blade length is increased to capture more wind power.Additionally,compared with the onshore wind turbines,their offshore counterparts are subjected to additional wave loadings in addition to wind loadings within their lifetime.Therefore,vibration control and fatigue load mitigation are crucial for safe operation of large-scale offshore wind turbines.In view of this,a multi-body model of an offshore bottom-fixed wind turbine including a detailed drivetrain is established in this paper.Then,an individual pitch controller(IPC)is designed using disturbance accommodating control.State feedback is used to add damping in flexible modes of concern,and a state estimator is designed to predict unmeasured signals.Continued,a coupled aero-hydro-servo-elastic model is constructed.Based on this coupled model,the load reduction effect of IPC and the dynamic responses of the drivetrain are investigated.The results showed that the designed IPC can effectively reduce the structural loads of the wind turbine while stabilizing the turbine power out-put.Moreover,it is found that the drivetrain dynamic responses are improved under IPC.

OBSO Based Fractional PID for MPPT-Pitch Control of Wind Turbine Systems

In recent times,wind energy receives maximum attention and has become a significant green energy source globally.The wind turbine(WT)entered into several domains such as power electronics that are employed to assist the connection process of a wind energy system and grid.The turbulent characteristics of wind profile along with uncertainty in the design of WT make it highly challenging for prolific power extraction.The pitch control angle is employed to effectively operate the WT at the above nominal wind speed.Besides,the pitch controller needs to be intelligent for the extraction of sustainable secure energy and keep WTs in a safe operating region.To achieve this,proportional–integral–derivative(PID)controllers are widely used and the choice of optimal parameters in the PID controllers needs to be properly selected.With this motivation,this paper designs an oppositional brain storm optimization(OBSO)based fractional order PID(FOPID)design for sustainable and secure energy in WT systems.The proposed model aims to effectually extract the maximum power point(MPPT)in the low range of weather conditions and save the WT in high wind regions by the use of pitch control.The OBSO algorithm is derived from the integration of oppositional based learning(OBL)concept with the traditional BSO algorithm in order to improve the convergence rate,which is then applied to effectively choose the parameters involved in the FOPID controller.The performance of the presented model is validated on the pitch control of a 5 MW WT and the results are examined under different dimensions.The simulation outcomes ensured the promising characteristics of the proposed model over the other methods.

On Belly-flap for Pitch Control at Transonic Airfoil

One of the issues about Blended-Wing-Body configuration （BWB） is its difficulty in pitch control due to the missing tail. To solve this problem, a novel pitch control surface, belly-flap, has been presented. In this paper, the feasibility of belly-flap being used as a transonic pitch control device for tailless configuration is investigated on a BWB in-body airfoil, using the computationalfluid dynamic （CFD） method. The size, location and deflection angle of the flap are studied to detect their effect on the aerodynamic characteristics. The results reveal that the bubble separation due to the belly-flap can affect shock position on the upper surface of the airfoil and change the surface pressure distribution. By choosing appropriate geometry parameters, the load distribution can be improved to obtain significant pitch-up moment increment in a wide angle of attack with no lift-loss and less lift-drag ratio decrement.

Robust Adaptive Pitch Control of Floating Wind Turbines

In this paper, a modified sliding-mode adaptive controller is derived to achieve stability and output regulation for a class of dynamical systems represented by a non-homogeneous differential equation with unknown time-varying coefficients and unknown force function. In this scheme, the control law is constructed in terms of estimated values for the bounds of the unknown coefficients, where these values are continuously updated by adaptive laws to ensure asymptotic convergence to zero for the output function. The proposed controller is applied to solve the problem of pitch angle regulation for a floating wind turbine with dynamic uncertainty and external disturbances. Numerical simulations are performed to demonstrate the validity of the designed controller to achieve the desired pitch angle for the floating turbine＇s body.

Nonsingular Terminal Sliding Mode Control With Ultra-Local Model and Single Input Interval Type-2 Fuzzy Logic Control for Pitch Control of Wind Turbines

As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed.

The Pitch Control Algorithm of Wind Turbine Based on Fuzzy Control and PID Control

Due to the special features of great inertia, pure lag and non-linearity provided with wind turbine, coupled with complex and variable working condition, it is difficult to achieve satisfactory control results simply by employing traditional PID, which has the drawbacks such as adjustment inconvenience, poor anti-interference, and large overshoot, and prolonged adjust span. This paper puts forward one type of improved controller combining Fuzzy Control with PID Control. With larger speed deviation, the controller emphasizes Fuzzy Control to speed system response;with less speed deviation, the controller emphasizes PID Control to improve control accuracy. Simulation Test directing at the algorithm is based on the Bladed software, with the positive result of improved dynamic and static performance of wind turbine under large disturbance.

Numerical analysis of the performance of a three-bladed vertical-axis turbine with active pitch control using a coupled unsteady Reynolds-averaged Navier-Stokes and actuator line model

In this paper,we present a numerical model of a vertical-axis turbine(VAT)with active-pitch torque control.The model is based upon the Wind and Tidal Turbine Embedded Simulator(WATTES)and WATTES-V turbine realisations in conjunction with the actuator line method(ALM),and uses OpenFOAM to solve the unsteady Reynolds-averaged Navier-Stokes(URANS)equations with two-equation k-εturbulence closure.Our novel pitch-controlled system is based on an even pressure drop across the entire rotor to mitigate against dynamic stall at low tip speed ratio.The numerical model is validated against experimental measurements and alternative numerical predictions of the hydrodynamic performance of a 1:6 scale UNH-RM2 hydrokinetic turbine.Simulations deploying the variable pitch mechanism exhibit improved turbine performance compared to measured data and fixed zero-pitch model predictions.Near-wake characteristics are investigated by examining the vorticity distribution near the turbine.The pitch-controlled system is demonstrated to theoretically decrease turbulence generated by turbine rotations,mitigate the intensity of vortex shedding and size of detached vortices,and significantly enhance the performance of a vertical-axis hydrokinetic turbine for rated tip-speed ratios.

Development of swashplateless helicopter blade pitch control system using the limited angle direct-drive motor(LADDM)

It can be greatly beneficial to remove the swashplate of conventional helicopter, because the swashplate is usually complicated, aerodynamically resistive, and obstacle of more complex pitch control for improving performance. The present technologies for helicopter vibration reduction are usually narrow in effective range or requiring additional actuators and signal transfer links, and more effective technology is desired. Helicopter blade pitch control system, which is removed of swashplate and integrated high-frequency pitch control function for active vibration reduction, is likely the suitable solution at current technical level. Several potential implementation schemes are discussed, such as blades being directly or indirectly driven by actuators mounted in rotating frame and application of different types of actuators, especially implementation schemes of electro-mechanical actuator with or without gear reducer. It is found that swashplateless blade pitch control system based on specially designed limited angle direct-drive motor （LADDM） is a more practical implementation scheme. An experimental prototype of the finally selected implementation scheme has been designed, fabricated and tested on rotor tower. The test results show considerable feasibility of the swashplateless helicopter blade pitch control system using the LADDM.

Dynamic Positioning Control of Surge−Pitch Coupled Motion for Small-Waterplane-Area Marine Structures

For general dynamic positioning systems,controllers are mainly based on the feedback of motions only in the horizontal plane.However,for marine structures with a small water plane area and low metacentric height,undesirable surge and pitch oscillations may be induced by the thruster actions.In this paper,three control laws are investigated to suppress the induced pitch motion by adding pitch rate,pitch angle or pitch acceleration into the feedback control loop.Extensive numerical simulations are conducted with a semi-submersible platform for each control law.The influences of additional terms on surge−pitch coupled motions are analyzed in both frequency and time domain.The mechanical constraints of the thrust allocation and the frequency characters of external forces are simultaneously considered.It is concluded that adding pitch angle or pitch acceleration into the feedback loop changes the natural frequency in pitch,and its performance is highly dependent on the frequency distribution of external forces,while adding pitch rate into the feedback loop is always effective in mitigating surge−pitch coupled motions.

基于模糊神经网络PID的煤矿掘进机俯仰控制研究

目前煤矿掘进机俯仰控制主要采用PID控制方法,在掘进机俯仰控制时变性与液压系统非线性情况下的控制精度不高。掘进机俯仰控制通过控制液压缸行程实现,将传统PID算法与模糊控制、神经网络等相结合,可有效提高液压缸行程控制精度。提出了一种基于模糊神经网络PID的煤矿掘进机俯仰控制方法。通过分析掘进机支撑部运动学关系,得到俯仰角与支撑部液压缸的数学关系;介绍了掘进机俯仰控制液压系统工作原理,建立了液压系统及其传递函数模型;将模糊控制与神经网络相结合,形成模糊神经网络,利用模糊神经网络优化PID控制参数,再结合支撑机构数学模型和液压系统传递函数模型,建立掘进机俯仰角模糊神经网络PID控制模型,实现煤矿掘进机俯仰机构自动精确控制。该方法可使掘进机俯仰机构更加快速、准确到达预设位置,解决掘进机俯仰控制中的时变性与非线性难题。仿真结果表明:模糊神经网络PID控制算法相较于模糊PID和PID控制算法,跟踪误差分别降低了69.34%和74.49%。通过液压缸位移控制模拟煤矿掘进机在突变工况和跟随工况下的俯仰控制,结果表明:模糊神经网络PID控制算法相比模糊PID和PID控制算法,俯仰控制跟踪误差最小,对位置信号的平均响应时间分别缩短了27.22%和50.33%,动态控制性能更好。

沥青基碳纤维的制备工艺、反应机理及调控方法

沥青基碳纤维是重要的工程碳纤维之一,在航空航天、国防军工等领域具有广泛应用。沥青基碳纤维制备流程长、影响因素多,归咎于对其制备工艺、反应机理及调控方法的认识不足,迄今工业化生产强度性能优异的沥青基碳纤维仍面临诸多困难。以碳纤维生产流程为主线,针对原料预处理、沥青前驱体调制、熔融纺丝、预氧化及炭化与石墨化的现状、方法、机理及调控进行深入探讨分析。沥青基碳纤维的原料有煤系、石油系、生物质系、高分子系和纯化合物,原料预处理方法主要有蒸馏和萃取;沥青前驱体的调制本质是以氢转移反应和自由基反应并行的液相炭化反应,包括环化、芳构化、低聚和缩聚等复杂的反应过程。芳烃低聚物在高温下缩聚形成稠环芳烃片状大分子的基本结构单元,基本结构单元经过热运动不断聚集,形成聚集体;由于范德华力作用使基本结构单元相互堆叠,形成平行堆积体,进而通过层积、堆积等过程形成基本构筑单元聚集体。基本构筑单元聚集体在不同反应条件下可以转变为长程无序、短程有序的难石墨化结构,也可以转变为长程有序、短程有序的易石墨化结构。以煤系、石油系和生物质系物质为原料调制沥青前驱体时,因其反应活性好,通常选用设备简单、操作容易、成本低廉的热缩聚法;而当以萘、甲基萘等纯化合物为原料时,因其反应活性差,需要较高的温度才能引发自由基反应,故通常采用催化合成法。熔融纺丝宏观上起到塑型的作用,通过改变纺丝参数和喷丝板的形状分别可以调节碳纤维的直径和形状;此外,熔融纺丝对中间相沥青前驱体的重排分子作用尤为明显,使得石墨微晶更易沿轴向一维排列形成有序的石墨晶体结构。为使沥青纤维在炭化过程中不发生融化,需要将沥青纤维由热塑性转变为热固性,即通过轻微的氧化反应,让沥青中的稠环芳烃分子经历氧化、缩合、分解和脱水,从而形成特定的交联结构,最终在纤维结构中生成一定量的含氧官能团。炭化是使预氧化后的纤维经过复杂的化学反应和结构转变形成具有炭材料分子结构特征的碳纤维。炭化过程中,石墨微晶发生重排,非碳原子被移除,碳元素含量进一步升高;经过石墨化后,石墨晶体结构更加完整、取向度更高,使碳纤维向石墨纤维转变,强度性能更加优异。另外,针对沥青基碳纤维的突破方向,提出了从分子维度定向可控制备的思路;并为碳纤维生产过程中耗时耗能的预氧化步骤的优化改进提供了具体方法。

针对风机变桨距控制系统隐蔽攻击的防御方法研究

伴随信息化程度不断提高,隐蔽攻击将对风机变桨距控制系统构成威胁。为此,设计了一种防御结构。将攻击信号对被控对象的影响反馈给控制器,由控制器实时调节控制输出信号,进而防御隐蔽攻击。分别在有攻击和无攻击场景下分析了采用防御结构后系统的稳定性。仿真结果显示,在隐蔽攻击时间段内,采用防御结构后,风机输出功率与设定值的平均误差为0.004 MW;在无攻击时间段内,风机输出功率与原系统保持一致。该结果说明,防御结构有效。

Intelligent control for large-scale variable speed variable pitch wind turbines

Large-scale wind turbine generator systems have strong nonlinear multivariable characteristics with many uncertain factors and disturbances. Automatic control is crucial for the efficiency and reliability of wind turbines. On the basis of simplified and proper model of variable speed variable pitch wind turbines, the effective wind speed is estimated using extended Kaiman filter. Intelligent control schemes proposed in the paper include two loops which operate in synchronism with each other. At below-rated wind speed, the inner loop adopts adaptive fuzzy control based on variable universe for generator torque regulation to realize maximum wind energy capture. At above-rated wind speed, a controller based on least square support vector machine is proposed to adjust pitch angle and keep rated output power. The simulation shows the effectiveness of the intelligent control.

计及恒定减载桨距角控制的风电高占比电力系统频率动态特性分析

在新型电力系统中,风电主动参与电网频率调节已成为必然,如何评估风电参与调频对频率动态特性的影响也成为了研究热点。围绕现有的风电调频措施,提出一种可以在额定风速前减少变桨动作次数的恒定减载桨距角的改进风电机组变桨控制,推导出该控制下风电机组参与一次调频的调差系数表达式。基于此构建了含恒定减载桨距角控制的电力系统频率响应模型。推导出频率动态特性指标的解析表达式,揭示了风速、初始桨距角等对风电机组调差系数及频率动态特性的影响机理。通过改进的IEEE三机九节点系统验证了所构建频率等值模型的准确性以及所提调频方法的有效性和可行性。

可调桨系统机桨联控节油技术研究

随着全球能源危机的日益严峻,EEDI(新船能效设计指数)的提出和不断普及,以及IMO(国际海事组织)对于船舶废气排放要求的日益严苛,燃油消耗成为了考核船舶性能的重要指标。“节油模式”机桨匹配过程方法,以主机燃油耗油量为目标值,通过研究主机的万有特性、桨的效率特性,以及船机桨匹配的特点,寻找在不同目标航速下油耗最低时的机桨匹配工况点;通过与传统可调桨控制模式相比较,验证了其节油效果。对于船舶节能系统的研究设计提供了技术储备,对于可调桨“节油模式”遥控系统的研发极具指导意义。

基于鲸鱼优化算法的风力发电机组变桨模糊控制策略

由于风的变化性、随机性等因素,风电机组的输出功率处于不稳定的状态。当风速超过额定风速时,通过精确地调节桨距角,保证风电机组输出功率的稳定性。针对该问题,基于Matlab/Simulink仿真软件,搭建出风电机组变桨控制模型,设计了基于鲸鱼算法优化的模糊PID控制器。然而,模糊控制参数繁多,仅靠专家经验进行整定比较困难。因此,通过鲸鱼算法对模糊参数进行在线最优整定,很好地解决了风电机组的大滞后和非线性问题。通过对比分析PID控制器和模糊PID控制器的性能,仿真结果表明后者可以使功率快速趋于额定值,提高了系统的动态响应,并且可以精确调整桨距角。此外,模糊PID控制器最大限度减轻了变桨机构的疲劳,增加了风机的寿命。