based on h ∞ Robust control method for wind turbine pitch actuator with mixed sensitivity

Abstract

The invention provides a wind turbine pitch variation execution mechanism robust control method based on H-infinity mixed sensitivity. The method comprises the following steps: establishing an open-loop transfer function GP (s) of a pitch variation execution mechanism; establishing a sensitivity function S and a complementary sensitivity function T; establishing weighting functions W1, W2, and W3 meeting constraint conditions; and establishing a closed-loop system transfer function Tzw (s) of a generalized controlled object of the pitch variation execution mechanism, and further obtaining a transfer function K(s) of an H-infinity controller Chinf. According to the method, the H-infinity mixed sensitivity robust control is applied to the wind power generation pitch variation execution mechanism, and an advanced control plan is provided for the pitch variation execution mechanism to carry out rapid and accurate pitch variation command tracking, thereby reducing tracking error, and improving tracking performance, dynamic performance, robust performance and anti-interference capability of the pitch variation execution mechanism.

Description

technical field

[0001] The invention belongs to the field of control methods of pitch actuators in wind power generation, and specifically relates to an H-based ∞ A robust control method for wind turbine pitch actuators with mixed sensitivities, designing controllers for pitch actuators in wind power generation systems, so that the pitch constant power control strategy of wind power generation systems can be applied, and the applicable objects are those with pitch function Wind power field. Background technique

[0002] People are more and more concerned about the depletion of fossil fuels and the environmental problems caused by the use of these fossil fuels. Making full use of renewable and clean wind energy has become an effective way to solve these problems. However, fluctuations in wind speed will cause fluctuations in output power, which will have adverse effects on the grid. In order to stabilize this power fluctuation, many control methods have been developed, such...

Examples

Embodiment Construction

[0047] Below in conjunction with accompanying drawing and embodiment to the present invention based on H ∞ A robust control method for wind turbine pitch actuators with mixed sensitivities is described in detail.

[0048] In this example based on H ∞ The robust control method of the fan pitch angle actuator with mixed sensitivity includes the following steps:

[0049] (1) There is a model parameter τ=10 of the pitch actuator of a permanent magnet synchronous wind turbine, and it can be seen that the controlled object is The model established as figure 1 shown.

[0050] (2) The pitch actuator has no interference, that is, ω d = 0; let u max =100.

[0051] The bode diagram of the open-loop transfer function of the pitch actuator is as follows figure 2 As shown, its cut-off frequency is 0rad / s, so the expected cut-off frequency ω cCan be set to 8.13 rad / s. Take K that satisfies the constraints 1 、K 2 、K 3 , A are 200, 0.01, 0.1, 5 respectively, that is, the weightin...

technical field

[0001] The invention belongs to the field of control methods of pitch actuators in wind power generation, and specifically relates to an H-based ∞ A robust control method for wind turbine pitch actuators with mixed sensitivities, designing controllers for pitch actuators in wind power generation systems, so that the pitch constant power control strategy of wind power generation systems can be applied, and the applicable objects are those with pitch function Wind power field. Background technique

[0002] People are more and more concerned about the depletion of fossil fuels and the environmental problems caused by the use of these fossil fuels. Making full use of renewable and clean wind energy has become an effective way to solve these problems. However, fluctuations in wind speed will cause fluctuations in output power, which will have adverse effects on the grid. In order to stabilize this power fluctuation, many control methods have been developed, such...

Examples

Embodiment Construction

[0047] Below in conjunction with accompanying drawing and embodiment to the present invention based on H ∞ A robust control method for wind turbine pitch actuators with mixed sensitivities is described in detail.

[0048] In this example based on H ∞ The robust control method of the fan pitch angle actuator with mixed sensitivity includes the following steps:

[0049] (1) There is a model parameter τ=10 of the pitch actuator of a permanent magnet synchronous wind turbine, and it can be seen that the controlled object is The model established as figure 1 shown.

[0050] (2) The pitch actuator has no interference, that is, ω d = 0; let u max =100.

[0051] The bode diagram of the open-loop transfer function of the pitch actuator is as follows figure 2 As shown, its cut-off frequency is 0rad / s, so the expected cut-off frequency ω cCan be set to 8.13 rad / s. Take K that satisfies the constraints 1 、K 2 、K 3 , A are 200, 0.01, 0.1, 5 respectively, that is, the weightin...

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