非线性控制理论在风力发电控制系统中的应用研究
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摘要
变速恒频双馈风力发电系统由于能够在较宽的风速范围内变速运行,风能捕获能力强,可以实现有功功率与无功功率的解耦控制,已经成为口前风力发电方面的研究热点。受国家自然科学基金项口(项目号：50677021)和教育部重点项口基金(项目号：105049)的资助,结合风力发电系统自身的特点,本论文重点研究了交流励磁发电机的功率控制和风力机的桨距角控制,主要研究内容和研究成果包括：
(1)综述了风力发电机组控制技术的现状和非线性控制理论的研究发展状况。
(2)对风力发电机组、交流励磁发电机进行了数学建模,推导出相应的非线性状态方程,并将之变换为仿射非线性形式。
(3)综合运用非线性精确线性化理论和基于H∞优化指标的内模控制方法,设计了交流励磁发电机功率跟踪鲁棒控制律。仿真结果表明,该方法可以实现了有功、无功的完全解耦,具有较好的跟踪效果和满意的动、静态性能,同时对模型不确定性和外界扰动具有较好的鲁棒性。
(4)由于风速的变化范围较宽,变化频繁,使得风力发电机组的工况点一般处于不断变化当中。针对机组的这一实际特点,采用基于非线性动态逆的方法进行了桨距角控制律的设计。从仿真结果可以看出,在工况点大范围变动时,控制系统仍然具有较好的控制效果,克服了局域近似线性化方法的不足,而且求解过程相对比较简单。
(5)为了减小风速扰动产生的不利影响,提出了基于非线性干扰抑制理论的桨距角控制律的设计方法。仿真结果表明,该方法对风速扰动具有抑制效果,同时对工况点的大范围变动也具有适应能力,可以实现额定风速以上功率的平稳输出。
Variable speed constant frequency (VSCF) wind turbine using Double-fed induction generator (DFIG) has become an advanced research hotspot in the aspect of wind power, because it can run in a variable speed within a relatively wide range of wind speed, has the stronger wind power capturing capability and can realize the decoupling control of active and reactive power. Supported by the ministry of education key project (NO:105049) and the national natural science fund project (NO:50677021), this thesis mainly studied the power control of AC excited generator and the pitch angle control of wind turbine according to the characters of wind power system itself. The primary contents and research results are as follows:
(1) Brief reviews of the control techniques for wind power system and the development of nonlinear control theory research are given.
(2) The mathematical models of wind power system and AC excited generator are established. Nonlinear state equations are derived and are transformed to affine nonlinear forms.
(3) By comprehensive use of exact linearization theory of nonlinear system and internal model control method based on H∞ptimization criterion, the power tracking robust control law of AC excited generator is designed. The simulation results show that this method can realize the completely decoupling control of active power and reactive power, has satisfactory tracking effect and dynamic and static characteristics, and has better robustness to model uncertainty and external disturbance.
(4) Due to the wide range and frequent change of wind speed, the operation point of system is usually in constant variation. Corresponding to this characteristic, the pitch angle controller is designed based on nonlinear dynamic inverse method. The simulation shows that when the operation point changed widely, the control system still has better control effect, and this method can overcome the shortcomings of local domain approximate linearization method, furthermore, it has relatively simple solution process.
(5) In order to reduce the bad influence of wind disturbance, a pitch angle control method based on nonlinear disturbance attenuation theory is proposed. The simulation shows that this method has good inhibitory effect to the wind turbulence, adapts to the large range variety of operation point and can realize the steady power output above the rated wind speed.
(1)综述了风力发电机组控制技术的现状和非线性控制理论的研究发展状况。
(2)对风力发电机组、交流励磁发电机进行了数学建模,推导出相应的非线性状态方程,并将之变换为仿射非线性形式。
(3)综合运用非线性精确线性化理论和基于H∞优化指标的内模控制方法,设计了交流励磁发电机功率跟踪鲁棒控制律。仿真结果表明,该方法可以实现了有功、无功的完全解耦,具有较好的跟踪效果和满意的动、静态性能,同时对模型不确定性和外界扰动具有较好的鲁棒性。
(4)由于风速的变化范围较宽,变化频繁,使得风力发电机组的工况点一般处于不断变化当中。针对机组的这一实际特点,采用基于非线性动态逆的方法进行了桨距角控制律的设计。从仿真结果可以看出,在工况点大范围变动时,控制系统仍然具有较好的控制效果,克服了局域近似线性化方法的不足,而且求解过程相对比较简单。
(5)为了减小风速扰动产生的不利影响,提出了基于非线性干扰抑制理论的桨距角控制律的设计方法。仿真结果表明,该方法对风速扰动具有抑制效果,同时对工况点的大范围变动也具有适应能力,可以实现额定风速以上功率的平稳输出。
Variable speed constant frequency (VSCF) wind turbine using Double-fed induction generator (DFIG) has become an advanced research hotspot in the aspect of wind power, because it can run in a variable speed within a relatively wide range of wind speed, has the stronger wind power capturing capability and can realize the decoupling control of active and reactive power. Supported by the ministry of education key project (NO:105049) and the national natural science fund project (NO:50677021), this thesis mainly studied the power control of AC excited generator and the pitch angle control of wind turbine according to the characters of wind power system itself. The primary contents and research results are as follows:
(1) Brief reviews of the control techniques for wind power system and the development of nonlinear control theory research are given.
(2) The mathematical models of wind power system and AC excited generator are established. Nonlinear state equations are derived and are transformed to affine nonlinear forms.
(3) By comprehensive use of exact linearization theory of nonlinear system and internal model control method based on H∞ptimization criterion, the power tracking robust control law of AC excited generator is designed. The simulation results show that this method can realize the completely decoupling control of active power and reactive power, has satisfactory tracking effect and dynamic and static characteristics, and has better robustness to model uncertainty and external disturbance.
(4) Due to the wide range and frequent change of wind speed, the operation point of system is usually in constant variation. Corresponding to this characteristic, the pitch angle controller is designed based on nonlinear dynamic inverse method. The simulation shows that when the operation point changed widely, the control system still has better control effect, and this method can overcome the shortcomings of local domain approximate linearization method, furthermore, it has relatively simple solution process.
(5) In order to reduce the bad influence of wind disturbance, a pitch angle control method based on nonlinear disturbance attenuation theory is proposed. The simulation shows that this method has good inhibitory effect to the wind turbulence, adapts to the large range variety of operation point and can realize the steady power output above the rated wind speed.
引文
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