为提升系统波能捕获能力,分析浮子受力,以状态空间法近似拟合辐射力,建立直驱式波浪发电系统数学模型。基于最优控制理论,以系统捕获波能为目标函数,在S域求解Hamilton方程,计算奇异最优控制率,经拉氏逆变换后得到理想电磁力信号。结合直接推力控制,设计二阶滑模控制方案,保证电机推力与初级磁链的跟踪效果。仿真结果表明,所提最优功率方案下系统捕获功率高,滑模控制器跟踪误差小、动态性能好,可提高波能转化率,有效降低推力与初级磁链脉动,增强系统鲁棒性。
Abstract
In order to improve wave energy capture capability of the system and analyze the force on the float, approximately fitting the radiation force by the state-space method, the mathematical model of direct-drive wave power system was established. Taking the captured wave energy of the system as the objective function, and solving Hamilton's equation in the S domain based on the optimal control theory, the singular optimal control rate was calculated, and the ideal electromagnetic force signal was obtained by inverse Laplace transform. Aimed at ensuring the tracking effect of the thrust force and primary flux, combined with direct thrust force control, a second order sliding mode control scheme was designed to ensure the tracking effect of the thrust force and primary flux. The results show that the proposed optimal power scheme has high capture efficiency, the proposed controller has small tracking error and good dynamic performance. It can improve the wave energy conversion rate, effectively reduce the thrust force and primary flux impulse, and optimize the system output power.
关键词
波浪能 /
波浪能转换 /
最大功率点跟踪 /
最优控制 /
直接推力控制
Key words
wave power /
wave energy conversion /
maximum power point track /
optimal control /
direct thrust force control
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基金
国家自然科学基金（62173148）; 广东省自然科学基金（2022A1515010150; 2023A1515010184）; 广东省基础与应用基础研究基金（2022A1515240026）
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