基于Hamilton模型的海上风力发电系统的协调控制策略研究

Offshore wind power will play an important role in the future wind power industry with the advantages of high wind speed, high output, low wind shear, low turbulence and the small impact on human life.While offshore wind power has a larger scale and is more complicated which puts forward higher requirements to wind power control technology.The paper will analyze the overall wind power system model for control, establish the Hamilton model based on the theory of energy function which makes the parameters in the control system based on this model have clear physical meaning. Then based on this model, the variable-speed fixed-blade controller is designed for under rated speed to ensure maximum wind energy capture and a variable-speed variable-pitch controller is designed for above rated speed, at the same time,considering tower vibration control to ensure safe and stable operation of the wind turbine system and prolong the service life of the unit; Meanwhile, as the designed controller can coordinate control, considering the robustness problems of the system inducing by uncertainty parameters and external disturbance caused by the external environment and the system itself loss, to improve the effectiveness of the controller. In addition, in order to solve problems of the speed sensor with high cost and difficult to repair, the rotor speed observer is designed based on Hamilton model. Finally, an experimental platform is constructed and the experimental results testifies the validity of the proposed control scheme, thus providing theoretical basis and reference value for the practical application.

海上风力发电具有高风速、高产出、低风切变、低湍流以及对人类生活低影响等优势，将在未来风电产业中占据重要地位。而海上风电的大型化复杂化更是对风力发电控制技术提出更高的要求。该课题将分析面向控制的整体风力发电系统模型，建立其基于能量函数理论的Hamilton模型，这使得基于该模型的控制系统所调参数具有明显的物理意义；进而基于此模型，设计额定转速以下的变速定桨控制器，保证最大化捕获风能，以及额定转速以上的变速变桨距控制器，同时考虑塔架振动控制，保证系统安全平稳运行及延长机组使用寿命；在所设计的控制器能够协调控制的同时，并考虑系统受外界环境影响和本身损耗所引起的参数不确定性以及外界干扰的鲁棒性问题，提高控制器的有效性；此外，为了解决速度传感器的成本高、维修难的难题，设计基于Hamilton模型下的转子速度观测器。最后通过实验平台验证所设计控制方案的的有效性，为实际应用提供理论基础及参考。

基于海上风力发电系统的高风速，低湍流特性，项目研究了大型海上风电控制技术，该项目在研究期间主要研究内容为：建立了基于Hamilton模型的风力发电系统模型，并以此研究了塔架前后/两侧振动的无源控制问题，有效的抑制塔架振动，降低塔架的疲劳载荷，同时降低对风机最大风能捕获及风力发电传动系统扭转振动的影响；提出了一种基于自适应控制和扩张状态观测器相结合的转速辨识理论的无速度传感器变速恒频永磁同步发电机(PMSG)控制策略，实现了系统无速度传感器控制，并抑制干扰影响；建立了直驱永磁同步风力发电系统机侧三相电压型PWM整流器dq旋转坐标系下数学模型，针对其负载电阻、IGBT等效电阻、交流侧电感阻抗以及频率等参数存在不确定性，提出一种非线性自适应Backstepping控制算法，所设计的控制器可以保证在系统参数不确定的情况下，实现网侧电流正弦化和相位控制，直流侧输出电压能够快速、无超调达到稳态；提出了基于自抗扰控制理论的风电系统的变桨距控制问题，实现在额定风速以上的恒功率控制，并采用改进人工蜂群算法对自抗扰控制器的参数进行优化，优化后的控制器调整参数减少，简化了调节过程，弥补了人工蜂群算法搜索过程寻优速度慢，迭代后期容易陷入局部最优的不足，提高了优化精度。最后将控制策略通过仿真软件及实验平台进行验证，为实际应用提供理论基础及参考。