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一种风力发电变桨距执行机构的自适应滑模控制方法,其特征在于,至少包括以下步骤:步骤一:由位置指令信号θ<sup>*</sup>和变桨电机实际机械位置角θ计算位置跟踪误差e和速度跟踪误差<img file="FDA0000535737040000011.GIF" wi="65" he="74" />步骤二:设计滑模面S;步骤三:将电磁转矩指令信号<img file="FDA0000535737040000012.GIF" wi="60" he="78" />划分为等价控制项<img file="FDA0000535737040000013.GIF" wi="90" he="91" />非线性控制项<img file="FDA0000535737040000014.GIF" wi="100" he="93" />自适应律<img file="FDA0000535737040000015.GIF" wi="63" he="78" />和趋近律<img file="FDA0000535737040000016.GIF" wi="58" he="78" />四个部分进行设计;步骤四:根据电磁转矩指令信号<img file="FDA0000535737040000017.GIF" wi="84" he="91" />由硬件控制模块对变桨距执行机构进行控制;上述步骤三中的电磁转矩指令信号<img file="FDA0000535737040000018.GIF" wi="89" he="87" />等价控制项<img file="FDA0000535737040000019.GIF" wi="94" he="90" />非线性控制项<img file="FDA00005357370400000110.GIF" wi="92" he="90" />趋近律<img file="FDA00005357370400000111.GIF" wi="68" he="86" />和自适应律<img file="FDA00005357370400000112.GIF" wi="64" he="78" />按如下表达式设计:<maths num="0001" id="cmaths0001"><math><![CDATA[<mrow><msubsup><mi>T</mi><mi>e</mi><mo>*</mo></msubsup><mo>=</mo><msubsup><mi>T</mi><mi>ec</mi><mo>*</mo></msubsup><mo>+</mo><msubsup><mi>T</mi><mi>nc</mi><mo>*</mo></msubsup><mo>+</mo><msubsup><mi>T</mi><mi>al</mi><mo>*</mo></msubsup><mo>+</mo><msubsup><mi>T</mi><mi>ac</mi><mo>*</mo></msubsup></mrow>]]></math><img file="FDA00005357370400000113.GIF" wi="473" he="84" /></maths><img file="FDA00005357370400000114.GIF" wi="179" he="84" /><maths num="0002" id="cmaths0002"><math><![CDATA[<mrow><msubsup><mi>T</mi><mi>nc</mi><mo>*</mo></msubsup><mo>=</mo><mo>-</mo><mi>ρfal</mi><mrow><mo>(</mo><mi>S</mi><mo>,</mo><mi>α</mi><mo>,</mo><mi>δ</mi><mo>)</mo></mrow></mrow>]]></math><img file="FDA00005357370400000115.GIF" wi="425" he="83" /></maths><maths num="0003" id="cmaths0003"><math><![CDATA[<mrow><msubsup><mi>T</mi><mi>al</mi><mo>*</mo></msubsup><mo>=</mo><mo>-</mo><mi>LS</mi></mrow>]]></math><img file="FDA00005357370400000116.GIF" wi="211" he="78" /></maths><img file="FDA00005357370400000117.GIF" wi="712" he="545" /><maths num="0004" id="cmaths0004"><math><![CDATA[<mrow><mi>fal</mi><mrow><mo>(</mo><mi>ϵ</mi><mo>,</mo><mi>α</mi><mo>,</mo><mi>δ</mi><mo>)</mo></mrow><mo>=</mo><mfenced open='{' close=''><mtable><mtr><mtd><msup><mrow><mo>|</mo><mi>ϵ</mi><mo>|</mo></mrow><mi>α</mi></msup><mi>sgn</mi><mrow><mo>(</mo><mi>ϵ</mi><mo>)</mo></mrow><mo>,</mo><mo>|</mo><mi>ϵ</mi><mo>|</mo><mo>></mo><mi>δ</mi><mo>,</mo></mtd></mtr><mtr><mtd><mi>ϵ</mi><mo>/</mo><msup><mi>δ</mi><mrow><mn>1</mn><mo>-</mo><mi>α</mi></mrow></msup><mo>,</mo><mo>|</mo><mi>ϵ</mi><mo>|</mo><mo>≤</mo><mi>δ</mi><mo>,</mo></mtd></mtr></mtable></mfenced><mi>δ</mi><mo>></mo><mn>0</mn></mrow>]]></math><img file="FDA00005357370400000118.GIF" wi="795" he="190" /></maths><maths num="0005" id="cmaths0005"><math><![CDATA[<mrow><msub><mi>Proj</mi><mover><mi>ξ</mi><mo>^</mo></mover></msub><mrow><mo>(</mo><mi>Γτ</mi><mo>)</mo></mrow><mo>=</mo><mfenced open='{' close=''><mtable><mtr><mtd><mi>Γτ</mi></mtd></mtr><mtr><mtd><mrow><mo>(</mo><mi>I</mi><mo>-</mo><mi>Γ</mi><mfrac><msup><mi>gg</mi><mi>T</mi></msup><mrow><msup><mi>g</mi><mi>T</mi></msup><mi>Γg</mi></mrow></mfrac><mo>)</mo></mrow><mi>Γτ</mi></mtd></mtr></mtable></mfenced></mrow>]]></math><img file="FDA0000535737040000021.GIF" wi="653" he="255" /></maths>如果<maths num="0006" id="cmaths0006"><math><![CDATA[<mrow><mover><mi>ξ</mi><mo>^</mo></mover><mo>∈</mo><msub><mi>Ω</mi><mi>ξ</mi></msub></mrow>]]></math><img file="FDA0000535737040000022.GIF" wi="144" he="90" /></maths>或<maths num="0007" id="cmaths0007"><math><![CDATA[<mrow><mover><mi>ξ</mi><mo>^</mo></mover><mo>∈</mo><msubsup><mi>Ω</mi><mi>ξ</mi><mi>O</mi></msubsup><mo>,</mo></mrow>]]></math><img file="FDA0000535737040000023.GIF" wi="164" he="90" /></maths>(Γτ)<sup>T</sup>g≤0式中ξ=[J,B,f]<sup>T</sup>,J、B、f依次为转动惯量、粘滞摩擦系数、转矩扰动及其它不确定性作用的汇总项,<img file="FDA0000535737040000024.GIF" wi="321" he="113" />为ξ的自适应估计值,<img file="FDA0000535737040000025.GIF" wi="448" he="113" />ρ为f的估计边界,L代表趋近速率L>0,P为3×3的时变自适应增益矩阵,||P||为P的Frobenius范数,||P||<sub>max</sub>为||P||的最大值,R>0为可调参数,<img file="FDA0000535737040000026.GIF" wi="338" he="113" />W<sub>f</sub>和<img file="FDA0000535737040000027.GIF" wi="63" he="85" />分别为W和<img file="FDA0000535737040000028.GIF" wi="62" he="79" />经过一阶低通滤波的值,χ为时变遗忘速率,χ<sub>max</sub>为χ的最大值,α为fal函数中误差e的指数,δ代表fal函数线性区域的宽度,sgn为符号函数,Proj为投影修正函数,Ω<sub>ξ</sub>为根据先验信息确定的参数闭空间,<img file="FDA0000535737040000029.GIF" wi="80" he="84" />为Ω<sub>ξ</sub>的边界,g为<img file="FDA00005357370400000210.GIF" wi="154" he="90" />处的单位法向量。 |