针对强非线性、强耦合的海上漂浮式风电机组动力学系统,提出一种基于二阶滑模的统一变桨控制策略,解决受海浪风速等随机干扰引起浮式支撑平台运动而产生的疲劳结构载荷及功率波动问题。构建漂浮式风电机组的不确定仿射非线性模型,基于风电机组“额定转速”设计积分滑模面,此“额定转速”不再是恒定值,而是取决于平台纵摇速度的变量,基于超螺旋算法实现二阶滑模变桨控制律。采用FAST和Matlab/Simulink联合仿真,所提出的方案与传统PI控制相比,对稳定高风速时风力发电机功率,抑制浮式支撑平台运动及减少叶根载荷具有更好的控制作用,对塔基也有较好的减载作用。
Abstract
A collective pitch control strategy based on second-order sliding mode is proposed for a strongly non-linear and strongly coupled offshore floating wind turbine dynamics system, which solves the problem of fatigue structural loads and power fluctuations caused by the motion of the floating support platform due to random disturbances such as wave and wind speed. Uncertain affine nonlinear model of a floating turbine is constructed. The integral sliding surface is designed based on the "rated speed" of the wind turbine, where the " rated speed" is no longer a constant value, but a variable depending on the pitch speed of the platform. A super-twisting algorithm is applied to conceive second-order sliding mode pitch control law. FAST and Matlab/Simulink are used to carry out collaborative simulation. The proposed control strategy is compared with the conventional PI control to verify the effectiveness. Experiments show that the proposed second-order sliding mode pitch control strategy has good control effect on stabilizing the wind turbine power at high wind speeds, restraining the movement of the floating support platform and reducing the blade root load, as well as having a good load reduction effect on the tower.
关键词
海上风电机组 /
滑模控制 /
统一变桨控制 /
载荷抑制 /
功率调节
Key words
offshore wind turbines /
sliding mode control /
collective pitch control /
load reduction /
power regulation
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基金
国家自然科学基金（61803230）; 山东省高等学校青创科技支持计划（2019KJN023）; 山东省高等学校科技计划（J18KA330）; 山东省重点研发计划（2019GSF109076）
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