为应对海洋复杂波浪环境,改善不规则激励力下直驱式波浪发电系统的功率捕获效果,降低参数变化影响,建立水动力和直线电机模型,采用线性二次型调节器方法设计系统状态反馈,通过控制代价方程中的权重矩阵,权衡系统输出功率、运动部件位移和速度三者之间的关系;计算理想电磁力,得到q轴期望电流跟踪值。根据系统摄动数学模型,将控制器设计问题转化为H∞鲁棒控制标准型问题,通过选取适当权函数求解控制器参数,增强系统抗干扰能力。仿真结果表明,在浮子位移和速度受限制情况下,当系统模型存在参数摄动时,所提控制策略系统输出功率更高、鲁棒性更强,可较好地应对复杂海况,提高波能转换效率。
Abstract
In order to cope with the complex sea conditions, improve the power capture efficiency of the direct-drive wave energy conversion system under irregular wave excitation, and reduce the influence of parameter uncertainty on the system, the hydrodynamic model and linear motor model were established, and a linear quadratic regulator method was proposed to design the system state feedback. The weight matrices were used to weigh the relationships between the system output power, the displacement and speed of the moving parts, and then the ideal electromagnetic force was calculated, so that the q-axis expected current could be obtained. According to the system perturbation mathematical model, the design of the controller was converted into standard H∞ optimization problem, and the controller parameters were obtained by selecting the appropriate weight function to enhance the anti-interference of the system. The simulation results show that the proposed control strategy has higher output power and stronger robustness than PI control when the system model exists perturbations under the condition of constrained float displacement and speed, which can better cope with complex sea conditions, improve wave energy conversion efficiency.
关键词
波能转换 /
波浪能 /
优化控制 /
永磁同步直线电机 /
线性二次型调节器 /
H∞控制
Key words
wave energy conversion /
wave power /
optimal control /
permanent magnet synchronous linear motor /
linear quadratic regulator /
H∞ control
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] MCARTHUR S, BREKKEN T K A. Ocean wave power data generation for grid integration studies[C]//2010 IEEE Power and Energy Society General Meeting, Minneapolis, USA, 2010: 1-6.
[2] 周能萍, 吴峰. 基于风-浪和灰色模型的波浪能发电系统输出功率短期预测[J]. 电力自动化设备, 2018, 38(5): 58-63.
ZHOU N P, WU F.Wind-wave and grey model based short-term output power prediction of wave energy generation system[J]. Electric power automation equipment, 2018, 38(5): 58-63.
[3] COE R G, MICHELEN C, ECKERT-GALLUP A, et al.Full long-term design response analysis of a wave energy converter[J]. Renewable energy, 2018, 116: 356-366.
[4] 黄宝洲, 杨俊华, 沈辉, 等. 基于FFT的直驱式波浪发电系统功率优化控制[J]. 太阳能学报, 2021, 42(3): 206-213.
HUANG B Z, YANG J H, SHEN H, et al.Power optimization control of direct drive wave power system based on FFT[J]. Acta energiae solaris sinica, 2021, 42(3): 206-213.
[5] RINGWOOD J V, BACELLI G, FUSCO F, Energy-maximizing control of wave-energy converters: the development of control system technology to optimize their operation[J]. IEEE control systems magazine, 2014, 34(5): 30-55.
[6] 肖晓龙, 肖龙飞, 杨立军. 串联直驱浮子式波浪能发电装置能量捕获研究[J]. 太阳能学报, 2018, 39(2): 398-405.
XIAO X L, XIAO L F, YANG L J.Energy harvesting study of series direct driven float wave energy converter[J]. Acta energiae solaris sinica, 2018, 39(2): 398-405.
[7] 黄秀秀, 杨金明, 陈渊睿, 等. 基于PCHD模型的振荡浮子式波浪发电系统的无源控制[J]. 电测与仪表, 2019, 56(7): 107-112.
HUANG X X, YANG J M, CHEN Y R, et al.Passivity based control of oscillating buoy wave power system based on PCHD model[J]. Electrical measurement & instrumentation, 2019, 56(7): 107-112.
[8] 蔡浩然, 杨俊华, 林巧梅, 等. 傅氏分析反步法直驱型海浪发电系统功率优化控制[J]. 电测与仪表, 2018, 55(18): 57-63.
CAI H R, YANG J H, LIN Q M, et al.An optimal control strategy for output power of directly driven wave generation system based on Fourier analysis back-stepping method[J]. Electrical measurement & instrumentation, 2018, 55(18): 57-63.
[9] NGUYEN H, TONA P.An efficiency-aware continuous adaptive proportional-integral velocity-feedback control for wave energy converters[J]. Renewable energy, 2020, 146: 1596-1608.
[10] 杨绍辉, 何宏舟. 多点直驱式波浪能发电系统的恒转速控制研究[J]. 太阳能学报, 2014, 35(5): 887-893.
YANG S H, HE H Z.Constant speed control research of multipoint direct-drive wave power generation system[J]. Acta energiae solaris sinica, 2014, 35(5): 887-893.
[11] 陈海峰, 杨俊华, 沈辉, 等. 基于混沌飞蛾捕焰算法的波浪发电系统最大功率跟踪[J]. 可再生能源, 2019, 37(11): 1697-1703.
CHEN H F, YANG J H, SHEN H, et al.Maximum power tracking of wave power generation system based on chaotic moth capture algorithm[J]. Renewable energy resources, 2019, 37(11): 1697-1703.
[12] ZHAN S Y, LI G.Linear optimal noncausal control of wave energy converters[J]. IEEE transactions on control systems technology, 2019, 27(4): 1526-1536.
[13] 黄俊豪, 杨俊华, 蔡浩然, 等. 基于WFT的直驱式波浪能发电系统自抗扰功率优化控制[J]. 可再生能源, 2021, 39(9): 1271-1278.
HUANG J H,YANG J H, CAI H R, et al.Optimal power control of active disturbance rejection for direct drive wave power generation system based on WFT[J]. Renewable energy resources, 2021, 39(9): 1271-1278.
[14] BARAMBONES O, DE DURANA J M G. Sliding mode control for power output maximization in a wave energy systems[J]. Energy procedia, 2015, 75: 265-270.
[15] 林巧梅, 杨俊华, 蔡浩然, 等. 基于滑模控制的直驱式波浪发电系统MPPT控制策略[J]. 电测与仪表, 2018, 55(10):90-95.
LIN Q M,YANG J H,CAI H R, et al.MPPT algorithm for direct-drive wave power generation system based on sliding mode control[J]. Electrical measurement & instrumentation, 2018, 55(10): 90-95.
[16] WAHYUDIE A, JAMA M A, SAED O.Robust hierarchical control strategy for heaving wave energy converter[C]//OCEANS 2015-Genova, Genova, Italy, 2015.
[17] 杨俊华, 陈海峰, 卢思灵, 等. 基于DSSOGI锁频环与改进鲸鱼优化算法的波浪发电系统功率优化控制[J]. 太阳能学报, 2021, 42(6): 12-20.
YANG J H, CHEN H F, LU S L, et al.Power optimization control of wave power system based on DSSOGI frequency locking loop and improved whale optimization algorithm[J]. Acta energiae solaris sinica, 2021, 42(6): 12-20.
[18] 董铸荣, 张欣, 胡松华,等. 基于LQR变传动比控制的4WIS电动车转向控制仿真研究[J]. 汽车工程, 2017,39(1): 79-85.
DONG Z R, ZHANG X, HU S H, et al.A simulation study on the steering control of a 4WIS EV based on LQR variable transmission ratio control[J]. Automotive engineering, 2017, 39(1): 79-85.
[19] 潘健, 刘昌龙. 基于ESO的LQR控制器在无人机姿态控制中的研究[J]. 系统仿真学报, 2018, 30(2): 753-759.
PAN J, LIU C L.UAV attitude control with LQR controller based on extended state observer[J]. Journal of system simulation, 2018, 30(2): 753-759.
[20] TAGHIPOUR R, PEREZ T, MOAN T.Hybrid frequency-time domain models for dynamic response analysis of marine structures[J]. Ocean engineering, 2008, 35(7): 685-705.
[21] YU Z, FALNES J.State-space modelling of a vertical cylinder in heave[J]. Applied ocean research, 1995, 17(5): 265-275.
[22] 申铁龙. H∞控制理论及应用[M]. 北京: 清华大学出版社, 1996.
SHEN T L.H∞ control theory and applications[M]. Beijing: Tsinghua University Press, 1996.
基金
国家自然科学基金（51370265）; 广东省教育部产学研合作专项资金（2013B090500089）; 广东省自然科学基金（2018A030313010）; 广州市科技计划（202102021135）
PDF(1996 KB)
