Robust structural control of an underactuated floating wind turbine
Robust structural control of an underactuated floating wind turbine
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DOI：
10.1002/we.2550
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发表时间：
2020-07
期刊：
影响因子：
4.1
通讯作者：
Yangming Zhang;Xiaowei Zhao;Xing Wei
中科院分区：
文献类型：
--
作者：
Yangming Zhang;Xiaowei Zhao;Xing Wei
研究了欠驱动漂浮式风力涡轮机的动力学建模和鲁棒控制问题。海上风力涡轮机在浮动平台上配备有调谐质量阻尼器。采用拉格朗日方程建立有限自由度动力学模型。针对欠驱动漂浮式风力涡轮机的负载控制问题，提出了一种基于扰动观测器的递阶滑模控制方法。在所提出的控制方案中，两个指定的性能的非线性干扰观测器被开发来估计和抵消未知的干扰，其中由波浪引起的负载被认为是一个不匹配的干扰，而由风引起的负载被视为一个匹配的干扰。分层滑模控制器调节这样的欠驱动非线性系统的状态。特别地，一阶滑模微分器用于避免滑模控制设计中繁琐的解析计算。严格分析了整个闭环系统的稳定性，并导出了保证所考虑系统状态收敛的一些充分条件。在设计模型和国家可再生能源实验室5-MW风力涡轮机模型上进行了数值仿真，仿真结果表明了所提出的控制方案的有效性和较强的鲁棒性。
This paper investigates the dynamic modeling and robust control of an underactuated floating wind turbine for vibration suppression. The offshore wind turbine is equipped with a tuned mass damper on the floating platform. The Lagrange's equation is employed to establish the limited degree‐of‐freedom dynamic model. A novel disturbance observer‐based hierarchical sliding mode control system is developed for mitigating loads of the underactuated floating wind turbine. In the proposed control scheme, two prescribed performance nonlinear disturbance observers are developed to estimate and counteract unknown disturbances, where the load induced by wave is considered as a mismatched disturbance while the load caused by wind is treated as a matched disturbance. The hierarchical sliding mode controller regulates the states of such an underactuated nonlinear system. In particular, the first‐order sliding mode differentiator is used to avoid the tedious analytic computation in the sliding mode control design. The stability of the whole closed‐loop system is rigorously analyzed, and some sufficient conditions are derived to guarantee the convergence of the states for the considered system. Numerical simulations deployed on both the design model and the National Renewable Energy Laboratory 5‐MW wind turbine model are provided, which demonstrate great effectiveness and strong robustness of the proposed control scheme.