Magnetic Levitation Yaw System Control Based On Single Point Suspension

Active yaw system is an essential part of high-power horizontal axis wind turbines.The conventional fan yaw system is driven by gears,which has the problems of high operation and maintenance costs and high failure rate and poor wind accuracy.Based on this,this paper takes the horizontal axis wind turbine magnetic levitation yaw system as the research object,analyzes the structure of the fan magnetic yaw system and the specific working principle,models the suspension process of the fan magnetic yaw system,and conducts research on control algorithms and simulation verification experiments.The levitation controller for this system is researched and designed,setting up a suspension experiment platform and conducting a levitation system suspension control experiment,which lays the foundation for further research on yaw.This paper firstly introduces the background and significance of the research,briefly describes the domestic and foreign research and development status of the magnetic levitation technology and the yaw system of the fan,analyzes the problems existing in the traditional yaw device of the fan,and proposes the yaw system of the magnetic levitation of the fan.Secondly,this paper researches the structural composition and specific working principle of the fan magnetic levitation yaw system,performs the mechanical and electrical analysis of the levitation process,and analyzes the influence of the yaw magnetic field on the levitation air gap magnetic field.The two modes of dynamic and yaw suspension processes of the yaw system were modeled.Finally,the two models were integrated to obtain the mathematical model of the entire suspension process.Then,this paper analyzes some theories that can be used for levitation control,and proposes a controller based on the traditional PID with air gap,current dual feedback method.A linearized model was obtained by feedback linearization of the nonlinear levitation model.The levitation controller based on the dual feedback PID method was designed.A simulation experiment platform based on the linearization model was established in Matlab.The simulation experiment of the built controller was carried out on this platform,and the experimental results were analyzed.Finally,the hardware and software circuits of the suspension controller based on the BUCK circuit are designed.The hardware circuit experimental platform is built and the experimental research is carried out.Hardware design includes primary circuit design and device selection,and secondary circuit design and device selection;software design includes the system main program flow,interrupt service subroutine flow design,and levitation height trajectory guidance as well as the control of soft start-up of the system.After the platform was built,air gap tracking and anti-jamming experiments were conducted.The experimental results show that the design of the controller based on the traditional PID with air gap and current double feedback method has the advantages of fast response,good tracking performance and strong anti-jamming performance,and can achieve a stable suspension of the system at a setting height.Also,the experiment has reached the expected goal.