Wind Two-point Suspension Yaw System Control

In this paper,the control of the suspension and yaw control of the magnetic levitation wind yaw system are carried out.In view of the imbalance torque of the cabin blade side and tail side can lead to the overturning problems of the system easily,so put forward the collaborative suspension control strategy with the overturning moment observer and lower pressure observer to solve the problem.The switching of the suspension and yaw mode can lead to the impact problems of the air gap and current easily,so put forward the steady state inherited control strategy based on the magnetic field energy to deal with this problem.For yaw torque fluctuation caused by the random fluctuation of wind speed,a sliding mode control strategy is proposed based on the load torque observer of the yaw speed.Simulation platform based on Matlab verify the validity of the control strategy of two-point levitation,yaw control and achieved the mode Modal flexible transition.Building wind maglev yaw test platform,realized the stability control of the suspended air gap and suppressed the overturning torque,preliminary test has proved the feasibility of the low speed control in the adjustment of the frequency.In the process of the overturning torque suppression,the suspension windings of the engine room are divided into the blade side and the tail side effectively,considering the suspension mechanical constraints on both sides,a two degree of freedom suspension dynamic model for the axial and pitching of the engine room is constructed.The sliding mode controller based on the change of the gap and gap speed is designed,combine with the observer of lower pressure and overturning force,the torque decoupling controller and the current tracking controller realized the tracking of the suspension current and the stable suspension of the equipment.The Lyapunov function is used to verify the stability of the two-point suspension control closed loop system.The two point suspension simulation tests are carried out in the step wind speed and random wind change,the stable suspension of the rated air gap of 10 mm is realized,and the overturning angle is controlled to be 0 strictly.Adopted the strategy of mode switching excitation current inheritance method,based on the power stability of the magnetic field,optimizing the excitation current of id,by the contrast test,realize the effect of the fluctuations of the air gap is only 0.2mm and the magnetizing current impact is only 4A in the process of switching.In the control of the yaw speed,the fluctuation of the wind speed caused the yaw torque fluctuation,so the load torque observer and the integral sliding control of the yaw speed are designed.Combine with the control strategy of current tracking inner loop,realized the aim of the speed constant control in yaw mode.The maximum wind energy capture and the constant speed of the yaw speed are achieved through the simulation test of the random wind speed fluctuation.A small platform of mixed excitation is built,the permanent magnet simulates the suspension rotor and the winding simulates the suspension stator.The effectiveness of vortex damping in the suppression of high frequency buffeting in the air gap is verified by contrast test,the results will be introduced into the suspension control of the engine room.A 3.5kW suspension controller and 3kW yaw controller are built,a single-point and two-point suspension test under the control of double closed loop suspension air gap is completed.Good tracking of the suspended air gap reference and good suspension stiffness are realized.A comparative test of the overturning load by single-point suspension and two-point suspension was found,the two-point suspension can restrain the overturning moment and ensure the stability of the suspended air gap effectively.In the yaw test,the basic control of the closed loop of the current is carried out,and the yaw control of the low frequency 0.1Hz AC frequency conversion is realized.