基于扰动观测的漂浮式海上风力机主动滑模结构控制研究

针对漂浮式海上风力机主动结构控制问题，提出一种基于扰动观测的主动滑模控制方法，并应用风力机仿真工具FAST验证所提方法的有效性。在扰动二阶导数有界的前提下，理论证明观测器的稳定性和估计误差的有界性，从而有效估计匹配扰动和非匹配扰动。理论证明一类积分型滑模面的有限时间收敛性和闭环系统稳定性。基于FAST的仿真表明：所提出的主动调谐质量阻尼器（TMD）控制方法与最优被动TMD相比，主动TMD系统的漂浮平台俯仰角度和塔顶位移的均方根值可分别降低11.88%和13.56%，有效提升了风力机承受风浪载荷的能力。

ACTIVE SLIDING MODE STRUCTURAL CONTROL OF FLOATING OFFSHORE WIND TURBINES BASED ON DISTURBANCE OBSERVATION

In terms of the active structure control problem of floating offshore wind turbines, an active sliding mode control method based on disturbance observation is proposed. The effectiveness of the proposed method is verified by using the wind turbine simulation tool FAST. On the premise that the second derivative of the disturbance is bounded, the stability of the derived disturbance observer is proved with bounded estimated errors, which means that the proposed disturbance observer is effective in estimating the matched and mismatched disturbances. A sliding mode controller is proposed based on an integral type sliding surface, where the finite time convergence and the closed-loop system stability are proved. Simulation results based on FAST show that the platform pitch angle and the tower-top displacement can be effectively reduced by using the proposed disturbance observer based sliding control method. Compared with the optimal passive TMD systems, the RMS values of the platform pitch angle and the tower-top displacement can be reduced by 11.88% and 13.56%, respectively.