直驱式波浪发电系统浮子位置和速度存在物理约束,基于线性二次高斯控制,提出约束反馈优化功率方案。通过流体力学工具得到辐射力数据,建立系统状态空间模型。采用标准卡尔曼滤波器获得系统全状态量信息,构建最小性能指标函数,计算状态反馈增益;考虑建模误差,设计滑模控制器,利用Lyapunov函数证明系统稳定性,补偿系统模型失配时的状态量偏移及功率损耗;离线计算反馈增益并调整滑模变结构控制参数,降低控制策略复杂性。仿真结果表明,所提控制策略动态性能好、鲁棒性强,能保证物理约束并提升系统输出功率。
Abstract
Considering the physical constraints of float position and velocity in direct drive wave power generation system, a constrained feedback power optimization scheme was proposed based on linear quadratic Gaussian（LQG）. In order to formulate the state space model of the system, the hydrodynamics tools was used to obtain the radiation force data. The standard Kalman filter was used to obtain the full state information of the system to construct the minimum performance index function and calculate the optimal state feedback gain. The sliding mode controller was designed, in which system modelling mismatch losses was compensated. Used Lyapunov judgement, the system stability was proved. Compensate the state deviation and power loss when the system model is mismatched. The feedback gain was calculated off-line and the sliding mode variable structure control parameters were adjusted to reduce the complexity of the control strategy. Simulation results show that the proposed control strategy has good dynamic performance and robustness, can improve the system output power without violating physical constraints.
关键词
波浪能 /
波浪能转换 /
滑模控制 /
模型失配 /
线性二次高斯法
Key words
wave power /
wave energy conversion /
sliding mode control /
model mismatch /
LQG
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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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