کنترل تحمل‌پذیر عیب فعال برای سیستم‌های توربین بادی با استفاده از مد لغزشی مبتنی بر رؤیتگر اغتشاش و تخمین تأخیر زمانی

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکتری، مهندسی مکانیک، دانشگاه شهید بهشتی، تهران، ایران،

2 هیئت علمی/ دانشگاه شهید بهشتی پردیس فنی عباسپور

چکیده

در این مقاله، کنترل تحمل‌پذیر عیب فعال برمبنای تخمین تأخیر زمانی، مد لغزشی و رؤیتگر اغتشاش غیرخطی برای کنترل زیرسیستم زاویه پیچ در حضور عیب عملگر و عدم قطعیت ارائه شده است. تخمین تأخیر زمانی به‌عنوان الگوریتم تخمین عیب برای تشخیص و جبران اثرات عیب عملگر به‌کار گرفته شده است. در ادامه، با ترکیب روش مد لغزشی، کنترل تأخیر زمانی و رؤیتگر غیرخطی اغتشاش یک قانون کنترل مقاوم برای خنثی کردن اثرات عیب و عدم قطعیت طراحی شده است. به منظور کاهش چترینگ در کنترل مد لغزشی معمولی که به علت جمله کنترلی ناپیوسته به ‌وجود می‌آید، یک رؤیتگر اغتشاش غیرخطی طراحی و با قانون کنترل مد لغزشی و کنترل تأخیر زمانی ترکیب شده است. در ساختار پیشنهادی، بهره کنترلی جمله ناپیوسته به میزان قابل ملاحظه‌ای کاهش یافته درنتیجه پدیده چترینگ به‌طور چشم‌گیری کاهش می‌یابد. تحلیل پایداری برمبنای تئوری لیاپانوف انجام شده است. پروفیل سرعت باد با استفاده از نرم‌افزار توربسیم تولید شده، و قانون کنترل پیشنهادی برمبنای مدل دوجرمی طراحی و به منظور اعتبارسنجی در محیط نرم‌افزار فست پیاده‌سازی شده است. نتایج، برتری کنترل‌کننده پیشنهادی درمقایسه با کنترل‌کننده‌های خطی‌سازی فیدبک و جدول‌بندی بهره درحضور عدم‌قطعیت و عیب‌های مختلف عملگر ازقبیل نشتی هیدرولیکی، خرابی پمپ و محتوی هوا در روغن هیدرولیک را نشان می‌دهد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Active Fault Tolerant Control of Wind Turbine Systems using Disturbance Observer-based Sliding Mode and Time Delay Estimation

نویسندگان [English]

  • mahmood mazare 1
  • Mostafa Taghizadeh 2
1 School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran.
2 shahid beheshti university
چکیده [English]

In this paper, an active fault tolerant control based on time delay control, sliding mode, and nonlinear disturbance observer is proposed to control the pitch subsystem in the presence of actuator faults and uncertainties. Time delay estimation is applied as a fault estimation algorithm for detection and compensation. Then, a robust control law is synthesized to nullify uncertainty and fault effects using a combination of sliding mode, disturbance observer, and time delay with novel adaptation laws. In order to mitigate chattering which comes from the discontinuous control term, a nonlinear disturbance observer is designed. Through the proposed structure, the discontinuous gain is reduced significantly which leads to chattering reduction. Stability analysis is conducted through Lyapunov Theory. Moreover, wind speed profiles are generated using TurbSim, and simulations are performed based on a nonlinear two-mass wind turbine model and implemented in the FAST environment to verify the validity of the designed controllers. Finally, results reveal the effectiveness of the proposed controller compared to feedback linearization and gain-schedule proportional-integral controllers in the presence of uncertainty and different actuator faults such as hydraulic leakage, pump wear, and high air content in the oil.

کلیدواژه‌ها [English]

  • Wind turbine
  • Pitch angle control
  • Fault tolerant control
  • Nonlinear disturbance observer
  • Time delay estimation

مراجع

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نشریه مهندسی مکانیک امیرکبیر
دوره 53، شماره 8
آبان 1400
صفحه 4517-4534

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