基于卡尔曼滤波的波浪发电系统反步法最优功率跟踪控制

常规变速控制系统的精度不高,变换器晶闸管开关动作产生的高频纹波较大,为此提出一种基于卡尔曼滤波的反步控制方法。文章通过分析波浪能提取装置的受力及幅频特性,获取了波浪能转化效率最大化的控制条件,并搭建了一套基于卡尔曼滤波的波浪发电反步最优功率控制系统。通过仿真研究了3种控制方法的控制精度和有效性,仿真结果表明:低通滤波反步法存在相位延迟,不能满足最大功率捕获策略的相位条件,影响系统的最终有功功率输出;反步法的跟踪误差较大,导致系统输出的有功功率较低;卡尔曼滤波反步法的动态性能较好,跟踪电流的波形振幅较小,能保证系统全局收敛,在电机速度方向、幅值和频率突变的情况下,仍能快速准确跟踪给定信号,鲁棒性和抗干扰能力更好。

Optimal power tracking control of backstepping method for wave power system based on Kalman filter

The precision of the conventional variable speed control system is not high, and the high frequency ripple generated by the thyristor switching of the converter is large. Therefore, a backstepping control method based on Kalman filtering is proposed. By analyzing the force and amplitude frequency characteristics of the wave energy extraction device, the control conditions for maximizing the efficiency of wave energy conversion are obtained, and a set of back-step optimal power control system for wave power generation based on Kalman filtering is established. The control accuracy and effectiveness of the three control methods are studied by simulation. The simulation results show that the low-pass filtering backstepping method has a phase delay and cannot meet the phase conditions of the maximum power capture strategy, which affects the final active power output of the system. The tracking error of the backstepping method is relatively large, resulting in a low active power output by the system. The Kalman filter backstepping method has better dynamic performance,and the waveform amplitude of the tracking current is smaller, which can ensure the global convergence of the system. In the case of sudden changes in motor speed direction, amplitude and frequency, the given signal can still be tracked quickly and accurately, and the robustness and anti-interference ability are better.