Research on Suspension Control Based on Model Mismatch Compensator for Maglev Yaw System of Wind Turbines

摘要

The yaw system is one of the important parts of the horizontal axis wind turbines. In this paper, a control method combined model predictive control (MPC) with PID based on model mismatch compensator is proposed to improve the dynamic suspension stability of maglev yaw system (MYS) at the equilibrium point. First, the dynamic mathematical models of the MYS are built and analyzed. Second, the MPC-PID suspension controller is designed, and the stability analysis of the designed maglev control system is carried out by using the Routh stability criterion. Third, the model mismatch compensator is designed to eliminate the influence on the system resulting from the inaccuracy of linearization model and uncertain external disturbance. Finally, the simulation experiments are carried out for different control schemes based on the parameters of the experimental prototype, and the simulation results show that the proposed MPC-PID controller based on the model mismatch compensator has higher control accuracy, and the MYS can reach the stable state with in shorter time, therefore the controller is substantiated to be feasible and superior.