Wind wheel aerodynamic simulation synchronous drag motor rotating speed active anti-disturbance control method and system

Abstract

The application discloses a wind wheel aerodynamic simulation synchronous drag motor rotating speed active anti-interference control method and system, relates to the wind wheel aerodynamic characteristic simulation technical field, and comprises the following steps: S1, obtaining the electric angle signal, the speed feedback signal and the dq axis current feedback signal; S2, establishing a state space model; S3, constructing a nonlinear adaptive fast disturbance compensator; S4, obtaining the drag motor d, q axis steady-state reference current, steady-state reference electric and reference signal; S5, constructing a multivariable robust rotating speed controller, and solving the control law of the driving drag motor according to the actual state and the steady-state reference state deviation.The application adopts the above-mentioned synchronous drag motor rotating speed active anti-interference control method and system related to the wind wheel aerodynamic simulation, improves the dynamic tracking precision and system bandwidth of the drag motor to the complex wind condition aerodynamic characteristic simulation, and provides accurate and safe physical test support for the factory inspection, reliability verification and control algorithm evaluation of a new generation of large-scale wind power equipment.

Description

Technical Field

[0001] This invention relates to the field of wind turbine aerodynamic characteristic simulation technology, and in particular to a method and system for active anti-disturbance control of the speed of a synchronous drive motor in wind turbine aerodynamic simulation. Background Technology

[0002] With the rapid development of large-scale wind power generation technology, the reliability verification and performance evaluation of wind turbine units have become crucial. The drive motor system, as a core component of the ground-based full-power test platform for wind turbine units, is widely used to simulate the rotational dynamics of wind turbine blades under actual wind conditions. In speed-based dynamic simulation schemes, the test platform transforms complex wind conditions into continuously time-varying speed reference commands through real-time aerodynamic model calculations. By controlling a large-capacity drive motor to accurately track this speed command, the mechanical motion state of the actual wind turbine can be effectively simulated. This not only significantly reduces the cost and safety risks of on-site grid-connected testing of large-scale wind power equipment but also provides an indispensable physical testing foundation for the transient and steady-state performance evaluation of wind turbine units under complex operating conditions such as wind speed steps and gust disturbances.

[0003] Currently, for speed control of drive motors in wind turbine test platforms, the industry generally adopts a drive architecture based on high-power converters, combined with a traditional field-oriented control architecture to achieve closed-loop speed regulation. In specific speed control implementation schemes, existing technologies typically rely on the classic linear proportional-integral (PI) controller as the dominant algorithm for the speed outer loop, suppressing the anti-drag torque applied by the generator under test as an external load disturbance. To improve the tracking performance of time-varying speed reference commands, some improved schemes introduce speed feedforward control into the basic speed closed loop, or use inertia and friction compensation mechanisms based on simple state observers, aiming to overcome the physical hysteresis caused by large inertia test systems and enable the actual speed of the drive motor to track and reproduce the dynamic speed curve output by the wind turbine model as accurately as possible. However, this multi-loop nested structure suffers from problems such as response lag, complex parameter coupling between control loops, and difficulty in tuning under high inertia loads and strong disturbances.

[0004] Furthermore, facing increasingly stringent testing standards and complex grid connection environments for next-generation wind turbines, existing drive motor speed control technologies are gradually revealing significant bottlenecks such as dynamic tracking lag, poor resistance to load disturbances, and sensitivity to parameters. Traditional linear control strategies struggle to overcome the dynamic response lag caused by large inertia testing systems, and under the influence of non-ideal factors such as sudden changes in external load, motor parameter perturbations, model mismatch, and unmodeled dynamics, large tracking errors can easily occur between the actual speed and the simulated command value.

[0005] Therefore, there is an urgent need in this field to design a drive motor speed control scheme with high dynamic response speed, strong resistance to load disturbance and high robustness to parameter changes, so as to improve the simulation accuracy and testing efficiency of existing ground test platforms under complex dynamic wind conditions. Summary of the Invention

[0006] The purpose of this invention is to provide a method and system for active anti-disturbance control of the speed of a wind turbine aerodynamic simulation synchronous drive motor, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides an active disturbance rejection control method for the speed of a wind turbine aerodynamically simulated synchronous drive motor, comprising the following steps: S1. Collect the mechanical position signal of the rotor of the drive motor and the current signal of the three-phase stator winding. Through angle conversion, differential filtering and coordinate transformation, obtain the electrical angle signal, speed feedback signal and dq axis current feedback signal. S2. Based on the voltage equation of the synchronous motor in the two-phase rotating synchronous coordinate system, and combined with the mechanical dynamics equation of the motor, non-ideal factors are regarded as lumped disturbances, and a state-space model is established. Non-ideal factors include external load fluctuations and parameter perturbations. S3. Based on the state-space model, and combined with the real-time acquired speed feedback signal, d-axis and q-axis current feedback signal, and d-axis and q-axis stator voltage commands output by the control system, nonlinear adaptive fast disturbance compensators are independently constructed for the speed loop, q-axis current loop, and d-axis current loop, respectively. S4. Combining the output and state-space model of the nonlinear adaptive fast disturbance compensator, the steady-state reference current and steady-state reference voltage of the d and q axes of the drive motor are obtained. Disturbance feedforward compensation is introduced to obtain the steady-state reference voltage and the reference signal. S5. Based on the actual operating parameters of the drive motor, the target speed command, and the steady-state reference current and steady-state reference voltage of the dq axis, a multivariable robust speed controller is constructed. The control law used to drive the drive motor is solved according to the deviation between the actual state and the steady-state reference state.

[0008] Therefore, the present invention employs the above-mentioned active disturbance rejection control method and system for the speed of a wind turbine aerodynamic simulation synchronous drive motor, which has the following beneficial effects: (1) This invention proposes an active anti-interference control architecture for time-varying speed commands, which addresses the characteristics of large inertia and strong disturbances in the drive motor of the wind turbine ground full-power test platform. This architecture effectively overcomes the response lag and physical hysteresis problems of traditional linear proportional-integral (PI) cascade closed-loop control when processing high-frequency dynamic speed reference commands, and significantly improves the dynamic tracking accuracy and system bandwidth of the drive motor in simulating the aerodynamic characteristics of complex wind conditions (such as gusts and step wind speeds).

[0009] (2) This invention independently constructs nonlinear adaptive fast disturbance compensators for the speed loop, d-axis current loop, and q-axis current loop. This mechanism can estimate and compensate for external load torque disturbances caused by changes in the operating conditions of the tested unit in real time, as well as lumped disturbances caused by non-ideal factors such as perturbation of drive motor parameters, model mismatch, and unmodeled dynamics, thereby enhancing the robustness of the control system to parameter changes and its ability to resist external load disturbances.

[0010] (3) The robust speed controller and adaptive parameter tuning mechanism designed in this invention break through the technical problem of severe parameter coupling and difficult tuning between control loops in the traditional multi-loop nested structure. The compensator gain and controller parameters have clear physical meaning and positive correlation adjustment law, which greatly simplifies the parameter tuning process of the controller and improves the deployability and engineering practicality of complex algorithms on industrial-grade high-power drive platforms.

[0011] (4) Through the synergy of the above-mentioned high dynamic and robust speed control schemes, the present invention can effectively reconstruct the mechanical rotational dynamics of the actual wind turbine. This not only improves the simulation accuracy of the existing ground full-power test platform under extreme transient conditions (such as sudden changes in high-frequency gusts and anti-drag fluctuations during low voltage ride-through), but also provides accurate and safe physical testing support for the factory inspection, reliability verification and control algorithm evaluation of the new generation of large-scale wind power equipment.

[0012] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0013] Figure 1 This invention relates to a flowchart of an embodiment of an active disturbance rejection control method and system for a wind turbine aerodynamic simulation synchronous drive motor speed; Figure 2 This invention relates to a method and system embodiment for active disturbance rejection control of the speed of a wind turbine aerodynamic simulation synchronous drive motor, and a speed loop nonlinear adaptive fast disturbance compensator. Figure 3 This invention relates to a method and system embodiment for active disturbance rejection control of the speed of a wind turbine aerodynamic simulation synchronous drive motor, and a q-axis current loop nonlinear adaptive fast disturbance compensator. Figure 4 This invention relates to an active disturbance rejection control method and system embodiment for wind turbine aerodynamic simulation synchronous drive motor speed nonlinear adaptive fast disturbance compensator for d-axis current loop; Figure 5 The figure shows the speed step response when using the traditional cascaded PI control method in the embodiment of the present invention, where (a) is the speed response curve, (b) is the dq axis current response curve, and (c) is the a and b phase current response curves. Figure 6The speed step response is shown in the embodiment of the present invention when the active speed disturbance rejection control method of the present invention is used, wherein (a) is the speed response curve, (b) is the dq axis current response curve, and (c) is the a and b phase current response curves. Figure 7 The load disturbance response in this embodiment of the invention is when the traditional cascaded PI control method is used, where (a) is the speed response curve, (b) is the dq axis current response curve, and (c) is the a and b phase current response curves. Figure 8 The load disturbance response when the active speed disturbance rejection control method of the present invention is used in the embodiment of the present invention is shown, wherein (a) is the speed response curve, (b) is the dq axis current response curve, and (c) is the a and b phase current response curve. Detailed Implementation

[0014] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0016] Example Please see Figures 1-8 This invention provides an active disturbance rejection control system for the speed of a wind turbine aerodynamic simulation synchronous drive motor, which consists of the following modules: 1) Encoder: Coaxially mounted with the synchronous motor rotor, used to acquire the rotor mechanical position signal of the motor in real time. ; 2) Three-phase current acquisition module: used to acquire the three-phase current signal of the stator of the synchronous drive motor in real time through current sensors. The three-phase current signal is then transmitted to the stationary coordinate transformation module. 3) Rotational speed and angle analysis module: Connected to the rotor position detection module, it is used to perform differential calculations on the acquired rotor mechanical position signals to obtain angular velocity feedback signals. Simultaneously, it combines digital filtering algorithms to suppress high-frequency noise interference and calculates the synchronous rotor electrical angle of the output motor. ; 4) Stationary coordinate transformation module (Clarke converter): used to acquire the actual three-phase sampled current signals of the synchronous motor stator. And map it to a two-phase stationary orthogonal coordinate system. shaft and Axis current components ; 5) Synchronous Rotating Coordinate Transformation Module (Park Transformer): Connected to the stationary coordinate transformation module and the speed and angle analysis module, used to transform the rotor electrical angle... ,Will shaft and Axis current components Projecting the data onto the dq reference coordinate system that rotates synchronously with the rotor, the actual d-axis and q-axis current components are obtained. ; 6) Speed ​​loop nonlinear adaptive fast disturbance compensator: used to adjust the rotor angular velocity feedback signal. And the dq flow feedback signal, to estimate in real time the unknown load disturbances and unmodeled dynamic components acting on the speed loop; 7) d-axis current loop nonlinear adaptive fast disturbance compensator: used to estimate the parameter mismatch and unknown disturbance components acting on the d-axis current channel in real time based on the d-axis current feedback signal and the d-axis command voltage output in the previous control cycle.

[0017] 8) Q-axis current loop nonlinear adaptive fast disturbance compensator: used to estimate the parameter mismatch and unknown disturbance components acting on the q-axis current channel in real time based on the q-axis current feedback signal and the q-axis command voltage output in the previous control cycle.

[0018] 9) System steady-state reference signal calculation module: It is used to calculate the ideal dq axis reference current and the corresponding steady-state feedforward voltage of the system under the current steady-state operating conditions based on the externally given speed reference command, combined with system parameters and real-time estimated disturbances.

[0019] 10) Multivariable robust speed controller: It is connected to the speed and angle analysis module, the synchronous rotation coordinate transformation module and the system steady-state reference signal calculation module, respectively, and is used to calculate the d-axis stator voltage command and the q-axis stator voltage command based on the rotor mechanical angular velocity feedback signal, d-axis current feedback signal, q-axis current feedback signal, target speed command, d-axis reference reference current, q-axis reference reference current, d-axis reference reference voltage and q-axis reference reference voltage; 11) Reverse coordinate transformation module (inverse Park converter): used to combine the given voltage signals of the d-axis and q-axis obtained by the above controller and compensation module, based on the rotor electrical angle. The signal is reverse-converted to a reference voltage signal in a two-phase or three-phase stationary coordinate system. 12) Space Vector Pulse Width Modulation (SVPWM) Module: Connected to the reverse coordinate transformation module, used to synthesize the reference voltage signal in the stationary coordinate system into a high-frequency PWM switching drive signal that can be executed by each bridge arm of the inverter; 13) The three-phase inverter module receives the PWM switching signal output by the SVPWM module, controls the on and off of the power switching devices, and converts the DC bus voltage into three-phase AC power with adjustable amplitude and frequency, thereby driving the synchronous motor to operate in a high dynamic range according to the set instructions.

[0020] This invention also provides an active anti-interference control method for the speed of a drive motor used in simulating the aerodynamic characteristics of a wind turbine, the specific steps of which are as follows: S1. Real-time acquisition of rotor mechanical position signals of the drive motor via position sensors. And by combining the number of pole pairs of the drive motor, the rotor electrical angle signal is calculated. The acquired rotor mechanical position signal is subjected to differential calculation and low-pass filtering to calculate the actual speed feedback signal of the drive motor. Simultaneously, the three-phase stator winding current signal of the drive motor is acquired in real time via a current sensor. The Clarke transform module is used to convert the three-phase stator winding current signal into a two-phase stationary coordinate system. shaft current and shaft current Furthermore, based on the rotor electrical angle signal The Park transformation module transforms the two-phase stationary coordinate system... shaft and shaft current Projection decoupling is performed, converting the currents to the d-axis and q-axis in a two-phase rotating synchronous coordinate system. .

[0021] S2. Based on the voltage equation of the synchronous motor in a two-phase rotating synchronous coordinate system, and combined with the motor's mechanical dynamics equation, non-ideal factors such as external load fluctuations and parameter perturbations are treated as lumped disturbances, and a state-space expression including the dq-axis current and speed is established. Its specific form is as follows: ; in, These are the actual stator voltage commands applied to the d-axis and q-axis of the synchronous motor, respectively. These are the d-axis and q-axis currents of the motor, respectively. The effective magnetic flux linkage of the motor rotor; These are the equivalent inductances of the motor's d-axis and q-axis, respectively. This represents the number of pole pairs of the motor. These are the equivalent resistance parameters of the motor stator windings; B and J These are the viscous friction coefficient and the system's moment of inertia, respectively, used to describe the damping and inertial characteristics of the drive motor mechanical system. These represent the lumped disturbances acting on the velocity loop and the q-axis and d-axis current loops (including external load torque disturbances, internal disturbances caused by model parameter mismatch, and unmodeled dynamics, etc.). This is the speed feedback signal.

[0022] S3. State-space model constructed based on S2 Combined with real-time acquired speed feedback signals d-axis and q-axis current feedback signals And the d-axis and q-axis stator voltage commands output by the control system. Independent nonlinear adaptive fast disturbance compensators were designed and constructed for the speed loop, q-axis current loop, and d-axis current loop respectively, to achieve real-time estimation and feedforward compensation of lumped disturbances such as internal system parameter perturbations and external load torque. Their specific expressions are as follows: ; ; ; Among them, disturbance compensator Used to estimate unknown lumped disturbances in the speed loop, the output includes a speed feedback signal. The estimated value Speed ​​loop disturbance The estimated value and its first derivative Disturbance compensator Used to estimate the unknown lumped disturbance in the q-axis loop, the output includes the q-axis current feedback signal. The estimated value q-axis current loop disturbance The estimated value Compensator Used to estimate unknown lumped disturbances in the d-axis loop, the output includes the d-axis current feedback signal. The estimated value d-axis current loop disturbance The estimated value ; , and Gain of the velocity loop, q-axis current loop, and d-axis current loop disturbance compensators , and The minimum value is used to ensure the basic convergence capability of each disturbance compensator; , and Gain and The adaptive adjustment amplitude is used to determine the range of change of the corresponding compensator gain; It is a gain adjustment coefficient greater than zero, used to adjust the decay rate of the compensator gain as the normalized estimation error changes; and These are the rated speed and rated current of the motor, respectively, used to normalize the estimation error; , and Disturbance compensators , and The nonlinear power-law adjustment parameter is used to determine the power of the corresponding estimation error feedback term and adjust the finite-time convergence characteristics of the disturbance compensator. , and Disturbance compensators , and The time-varying observation gain is used to adjust the convergence speed and estimation accuracy of the corresponding disturbance compensator; It is a time variable; It is a natural constant.

[0023] Parameters of the speed loop nonlinear adaptive fast disturbance compensator Used to adjust to unknown disturbances The estimation and compensation accuracy meets the requirements. The larger the value of the parameter, the faster the disturbance compensation response and the higher the estimation accuracy; in the adaptive adjustment mechanism, the parameter Used to adjust adaptive gain The minimum value, Used to adjust adaptive gain The dynamic adjustment range Used to control the adaptive gain The evolution rate as the system state changes must satisfy the following conditions: Adaptive gain Used to comprehensively adjust the compensator for unknown lumped disturbances. The larger the value of the global performance for estimation and compensation, the faster the system's disturbance compensation response and the higher the accuracy of tracking and estimating time-varying disturbances.

[0024] Parameters of q-axis current loop nonlinear adaptive fast disturbance compensator Used to adjust to unknown disturbances The estimation and compensation accuracy meets the requirements. The larger the value of this parameter, the faster the disturbance compensation response and the higher the estimation accuracy; in the adaptive adjustment mechanism, the parameter... Used to adjust adaptive gain The minimum value, Used to adjust adaptive gain The dynamic adjustment range Used to control the adaptive gain The evolution rate as the system state changes must satisfy the following conditions: Adaptive gain Used to comprehensively adjust the compensator for unknown lumped disturbances. The larger the value of the global performance for estimation and compensation, the faster the system's disturbance compensation response and the higher the accuracy of tracking and estimating time-varying disturbances.

[0025] Parameters of d-axis current loop nonlinear adaptive fast disturbance compensator Used to adjust to unknown disturbances The estimation and compensation accuracy meets the requirements. The larger the value of this parameter, the faster the disturbance compensation response and the higher the estimation accuracy; in the adaptive adjustment mechanism, the parameter... Used to adjust adaptive gain The minimum value, Used to adjust adaptive gain The dynamic adjustment range Used to control the adaptive gain The evolution rate as the system state changes must satisfy the following conditions: Adaptive gain Used to comprehensively adjust the compensator for unknown lumped disturbances. The larger the value of the global performance for estimation and compensation, the faster the system's disturbance compensation response and the higher the accuracy of tracking and estimating time-varying disturbances.

[0026] S4. Nonlinear adaptive fast disturbance compensator constructed based on S3 , , Output speed loop disturbance estimate and its first derivative q-axis current loop disturbance estimate and d-axis current loop disturbance estimate And combined with the state-space model constructed by S2 Calculate at a given target rotational speed The reference currents for the d-axis and q-axis of the driven motor, as well as the steady-state reference voltages for the d-axis and q-axis, are calculated. Taking into account disturbance estimation feedforward compensation, a reference signal is obtained by solving for the system's steady-state operating point to eliminate system steady-state error and improve dynamic response speed. The specific expression is as follows: ; in, These represent the steady-state reference current values ​​for the d-axis and q-axis required for the drive motor to reach a given target speed, respectively. These represent the steady-state reference voltage values ​​of the d-axis and q-axis required for the motor to maintain steady-state operation after the introduction of disturbance compensation. The calculated steady-state current and voltage reference signals will serve as the reference input for subsequent feedback control algorithms, thereby achieving zero steady-state error tracking control of time-varying speed commands.

[0027] S5. Real-time speed of the drive motor is measured by the sensor. d-axis and q-axis current values Combined with the target speed command given by the system The steady-state reference currents along the d-axis and q-axis were obtained using S4 calculation. and their corresponding d-axis and q-axis steady-state feedforward reference voltages A multivariable robust speed controller is constructed. By comprehensively processing the deviation between the current actual state and the steady-state reference state of the system, the final control law for driving the drive motor is calculated and generated, and its specific expression is as follows: ; in, This refers to the stator voltage command calculated by the robust speed controller and ultimately applied to the d-axis and q-axis of the drive motor; , and and are the speed error feedback gain, q-axis current error feedback gain, and d-axis current error feedback gain of the robust controller, respectively, used to adjust the convergence speed and dynamic response performance of the corresponding state errors.

[0028] Parameters in the controller The response speed of the speed loop is used to adjust the range of values ​​that satisfy the following conditions: The value of this parameter is positively correlated with the dynamic response speed of the system rotational speed: that is, the parameter... The larger the value of , the faster the drive motor responds to the time-varying speed command of the target; conversely, the smaller the value of the parameter... The smaller the value of , the slower the system's speed tracking response. The controller parameters The value range used to adjust the dynamic response speed of the d-axis current loop must meet the following requirements. The value of this parameter is also positively correlated with the dynamic response speed of the d-axis current: that is, the parameter... The larger the value of , the faster the d-axis current feedback responds to the command; conversely, the smaller the value of the parameter... The smaller the value of , the slower the adjustment response of the d-axis current.

[0029] Figures 2-4 Detailed implementation block diagrams of the velocity loop nonlinear adaptive fast disturbance compensator, the q-axis current loop nonlinear adaptive fast disturbance compensator, and the d-axis current loop nonlinear adaptive fast disturbance compensator are given respectively. The velocity loop nonlinear adaptive fast disturbance compensator, the q-axis current loop nonlinear adaptive fast disturbance compensator, and the d-axis current loop nonlinear adaptive fast disturbance compensator can be implemented using these diagrams.

[0030] To verify the technical effectiveness and advancement of the control method proposed in this invention, two typical comparative experimental conditions were set up on a hardware experimental platform to intuitively evaluate the performance differences between the traditional cascaded PI control method and the method of this invention in terms of dynamic tracking response and resistance to load disturbances.

[0031] Condition 1 (Transient tracking performance test): The drive motor runs under no-load conditions, and the target speed command undergoes a large-range step jump from 0 rpm to 500 rpm. Operating Condition 2 (Load Disturbance Resistance Test): The drive motor operates in steady state at a constant target speed of 1000 rpm, and an external load impact of 8 Nm is suddenly applied at a certain time.

[0032] Figure 5 and Figure 6 The system-wide response waveforms of the traditional cascaded PI control method and the control strategy of this invention are presented separately under operating condition one (speed step change). The figures include transient response curves for motor speed, d-axis and q-axis currents, and a-phase and b-phase stator currents. Comparative experimental results show that the control method proposed in this invention exhibits faster transient tracking speed and shorter dynamic settling time when dealing with speed step changes, significantly improving the high dynamic response performance of the drive system when facing high-frequency time-varying commands.

[0033] Figure 7 and Figure 8 The system response waveforms of the traditional cascaded PI control method and the method of this invention are compared under operating condition two (steady-state operation with sudden external load). Analysis Figure 7 and Figure 8It is evident that when the system encounters a sudden strong load impact of 8 Nm, the traditional cascaded PI control method, due to its inherent error integral lag, causes a significant drop in actual speed, and the time to recover to steady state is relatively long, accompanied by obvious transient speed fluctuations. In contrast, thanks to the real-time disturbance estimation and compensation function of the multi-loop nonlinear adaptive fast disturbance compensator, the method of this invention significantly reduces the speed drop at the moment of sudden load application, and the system can smoothly recover to the target speed of 1000 rpm at a relatively fast speed, demonstrating good robustness.

[0034] The experimental results in both sets of statements demonstrate that the active anti-interference control method for drive motor speed in wind turbine aerodynamic characteristic simulation proposed in this invention effectively improves the performance of traditional linear control strategies under high dynamic conditions. This method can achieve rapid and smooth tracking of dynamic speed commands and exhibits good anti-interference capability when facing sudden load disturbances, thus contributing to improving the accuracy and stability of aerodynamic characteristic simulation during wind turbine ground full-power testing.

[0035] Therefore, the present invention employs the above-mentioned active anti-disturbance control method and system for the speed of the synchronous drive motor in wind turbine aerodynamic simulation, which significantly improves the dynamic tracking accuracy and system bandwidth of the drive motor in simulating the aerodynamic characteristics of complex wind conditions (such as gusts and step wind speeds). It fundamentally enhances the parameter robustness and resistance to external load mutations of the control system, improves the deployability and engineering practicality of complex algorithms on industrial-grade high-power drive platforms, and provides accurate and safe physical testing support for the factory inspection, reliability verification, and control algorithm evaluation of the next generation of large-scale wind power equipment.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for active disturbance rejection control of the speed of a synchronous drive motor simulating a wind turbine aerodynamics, characterized in that, Includes the following steps: S1. Collect the mechanical position signal of the rotor of the drive motor and the current signal of the three-phase stator winding. Through angle conversion, differential filtering and coordinate transformation, obtain the electrical angle signal, speed feedback signal and dq axis current feedback signal. S2. Based on the voltage equation of the synchronous motor in the two-phase rotating synchronous coordinate system, and combined with the mechanical dynamics equation of the motor, non-ideal factors are regarded as lumped disturbances, and a state-space model is established. Non-ideal factors include external load fluctuations and parameter perturbations. S3. Based on the state-space model, and combined with the real-time acquired speed feedback signal, d-axis and q-axis current feedback signal, and d-axis and q-axis stator voltage commands output by the control system, nonlinear adaptive fast disturbance compensators are independently constructed for the speed loop, q-axis current loop, and d-axis current loop, respectively. S4. Combining the output and state-space model of the nonlinear adaptive fast disturbance compensator, the steady-state reference current and steady-state reference voltage of the d and q axes of the drive motor are obtained. Disturbance feedforward compensation is introduced to obtain the steady-state reference voltage and the reference signal. S5. Based on the actual operating parameters of the drive motor, the target speed command, and the steady-state reference current and steady-state reference voltage of the dq axis, a multivariable robust speed controller is constructed. The control law used to drive the drive motor is solved according to the deviation between the actual state and the steady-state reference state.

2. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 1, characterized in that, The specific steps of S1 are as follows: S11. The rotor mechanical position signal of the drive motor is collected in real time by the position sensor, and the rotor electrical angle signal is calculated by combining the number of pole pairs of the drive motor; the collected rotor mechanical position signal is differentially calculated and combined with low-pass filtering to calculate the speed feedback signal of the drive motor. S12. The three-phase stator winding current signal of the drive motor is acquired in real time by a current sensor, and the three-phase stator winding current signal is converted into a two-phase stationary coordinate system using a Clarke converter module. shaft current and Shaft current; based on the rotor electrical angle signal, the Park transformation module converts the two-phase stationary coordinate system... shaft and The axis currents are projected and decoupled, and converted into d-axis and q-axis currents in a two-phase rotating synchronous coordinate system.

3. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 2, characterized in that, The specific formula for the state-space expression in S2 is as follows: ； in, These are the actual stator voltage commands applied to the d-axis and q-axis of the synchronous motor, respectively. These are the d-axis and q-axis currents of the motor, respectively. The effective magnetic flux linkage of the motor rotor; These are the equivalent inductances of the motor's d-axis and q-axis, respectively. This represents the number of pole pairs of the motor. These are the equivalent resistance parameters of the motor stator windings; B and J These are the viscous friction coefficient and the system's moment of inertia, respectively, used to describe the damping and inertial characteristics of the drive motor mechanical system. These represent the lumped unknown disturbance components acting on the velocity loop and the q-axis and d-axis current loops, respectively. This is the speed feedback signal.

4. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 3, characterized in that, The specific formula for the nonlinear adaptive fast disturbance compensator in S3 is as follows: ； ； ； Among them, disturbance compensator Used to estimate unknown lumped disturbances in the speed loop, the output includes a speed feedback signal. The estimated value Speed ​​loop disturbance The estimated value and its first derivative Disturbance compensator Used to estimate the unknown lumped disturbance in the q-axis loop, the output includes the q-axis current feedback signal. The estimated value q-axis current loop disturbance The estimated value Disturbance compensator Used to estimate unknown lumped disturbances in the d-axis loop, the output includes the d-axis current feedback signal. The estimated value d-axis current loop disturbance The estimated value ; , and Perturbation gain for velocity loop, q-axis current loop and d-axis current loop , and The minimum value is used to ensure the basic convergence capability of each disturbance compensator; , and Gain and The adaptive adjustment amplitude is used to determine the range of change of the corresponding compensator gain; It is a gain adjustment coefficient greater than zero, used to adjust the decay rate of the compensator gain as the normalized estimation error changes; and These are the rated speed and rated current of the motor, respectively, used to normalize the estimation error; , and Disturbance compensators , and The nonlinear power-law adjustment parameter is used to determine the power of the corresponding estimation error feedback term and adjust the finite-time convergence characteristics of the disturbance compensator. , and Disturbance compensators , and The time-varying observation gain is used to adjust the convergence speed and estimation accuracy of the corresponding disturbance compensator; It is a time variable; It is a natural constant.

5. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 4, characterized in that, The specific steps of S4 are as follows: S41. Based on the speed loop disturbance estimate and its first derivative, and the d-axis and q-axis current loop disturbance estimate output by the nonlinear adaptive fast disturbance compensator, and combined with the state space model, calculate the steady-state reference current and steady-state reference voltage of the drive motor corresponding to the given target speed on the d and q axes. S42. Introduce disturbance estimation feedforward compensation. By solving the steady-state operating point of the system, a reference signal is obtained, eliminating the steady-state error of the system and improving the dynamic response speed.

6. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 5, characterized in that, The specific formula for the reference signal in S42 is as follows: ； in, These represent the steady-state reference current values ​​for the d-axis and q-axis required for the drive motor to reach a given target speed, respectively. These represent the d-axis and q-axis steady-state reference voltage values ​​required for the motor to maintain the aforementioned steady-state operation after the introduction of disturbance compensation. The target rotational speed.

7. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 6, characterized in that, The specific steps of S5 are as follows: S51. Based on the real-time acquisition of the drive motor speed, d-axis and q-axis current values ​​by the sensor, and combined with the target speed command, a multivariable robust speed controller is constructed using the steady-state reference current and steady-state reference voltage of the d and q axes. S52. The deviation between the current actual state and the steady-state reference state of the integrated processing system is calculated and the control law for driving the motor is generated.

8. The active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor according to claim 7, characterized in that, The specific formula for the control law in S52 is as follows: ； in, This refers to the stator voltage command calculated by the multivariable robust speed controller and ultimately applied to the q-axis and d-axis of the drive motor; , and These are the speed error feedback gain, q-axis current error feedback gain, and d-axis current error feedback gain of the robust controller, respectively, used to adjust the convergence speed and dynamic response performance of the corresponding state errors.

9. A system employing the active disturbance rejection control method for the speed of a wind turbine aerodynamic simulation synchronous drive motor as described in any one of claims 1-8, characterized in that, include: Encoder: Mounted coaxially with the synchronous motor rotor, used to acquire the rotor's mechanical position signal in real time. ; Three-phase current acquisition module: Used to acquire the three-phase current signal of the stator of a synchronous drive motor in real time via a current sensor. The three-phase current signals are then transmitted to the stationary coordinate transformation module. Rotor speed and angle analysis module: Connected to the rotor position detection module, it performs differential calculations on the acquired rotor mechanical position signal to obtain the angular velocity feedback signal. Simultaneously, it combines digital filtering algorithms to suppress high-frequency noise interference and calculates the synchronous rotor electrical angle of the output motor. ; Stationary coordinate transformation module: used to acquire the actual three-phase sampled current signal of the synchronous motor stator. And map it to a two-phase stationary orthogonal coordinate system. shaft and Axis current components ; Synchronous Rotating Coordinate Transformation Module: Connected to the stationary coordinate transformation module and the speed and angle analysis module, used to transform the rotor electrical angle... ,Will shaft and Axis current components Projecting the data onto the dq reference coordinate system that rotates synchronously with the rotor, the actual d-axis and q-axis current components are obtained. ; Speed ​​loop nonlinear adaptive fast disturbance compensator: used to adjust based on rotor angular velocity feedback signal The dq-axis current feedback signal is used to estimate the unknown load disturbances and unmodeled dynamic components acting on the speed loop in real time online. d-axis current loop nonlinear adaptive fast disturbance compensator: used to estimate the parameter mismatch and unknown disturbance components acting on the d-axis current channel in real time based on the d-axis current feedback signal and the d-axis command voltage output in the previous control cycle. Q-axis current loop nonlinear adaptive fast disturbance compensator: used to estimate the parameter mismatch and unknown disturbance components acting on the q-axis current channel in real time based on the q-axis current feedback signal and the q-axis command voltage output in the previous control cycle. System steady-state reference signal calculation module: It is used to calculate the ideal dq axis reference current and the corresponding steady-state feedforward voltage of the system under the current steady-state operating conditions based on the externally given speed reference command, combined with system parameters and real-time estimated disturbances. Multivariable robust speed controller: It is connected to the speed and angle analysis module, the synchronous rotation coordinate transformation module and the reference signal calculation module respectively. It is used to calculate the d-axis stator voltage command and the q-axis stator voltage command based on the rotor mechanical angular velocity feedback signal, d-axis current feedback signal, q-axis current feedback signal, target speed command, d-axis reference reference current, q-axis reference reference current, d-axis reference reference voltage and q-axis reference reference voltage. Reverse coordinate transformation module: This module combines the given voltage signals of the d-axis and q-axis obtained from the above controller and compensation module, and transforms them based on the rotor electrical angle. The signal is reverse-converted to a reference voltage signal in a two-phase or three-phase stationary coordinate system. Space Voltage Vector Pulse Width Modulation (SVPWM) module: connected to the inverse coordinate transformation module, used to synthesize the reference voltage signal in the stationary coordinate system into a high-frequency PWM switching drive signal that can be executed by each bridge arm of the inverter; The three-phase inverter module receives the PWM switching signal output by the SVPWM module, controls the on / off state of the power switching devices, and converts the DC bus voltage into three-phase AC power with adjustable amplitude and frequency, thereby driving the synchronous motor to operate in a high dynamic range according to the set instructions.

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