为降低风电机组的现场测试成本及风险,并能在实验室内对故障多发部件的功能和可靠性进行测试,设计了一种以风机主控为对象的半实物仿真测试平台。该平台硬件部分包括上位机、目标实时平台、I/O接口及风机控制器;软件部分包括风机仿真模...为降低风电机组的现场测试成本及风险,并能在实验室内对故障多发部件的功能和可靠性进行测试,设计了一种以风机主控为对象的半实物仿真测试平台。该平台硬件部分包括上位机、目标实时平台、I/O接口及风机控制器;软件部分包括风机仿真模型、仿真管理软件Sim control RT/HOST、控制算法等。仿真测试平台集合了硬件在环、先进建模、信号调理等技术。仿真测试平台基于风机控制器,利用Matlab建立风机仿真模型,可模拟风电机组在多种工况下的运行状况,并能通过GUI界面监控运行过程。利用平台对风机的几个典型工况进行仿真测试,结果验证了仿真平台的有效性,降低了现场测试的风险。展开更多
A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established vi...A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton-Euler formalism.For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field.Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.展开更多
文摘为降低风电机组的现场测试成本及风险,并能在实验室内对故障多发部件的功能和可靠性进行测试,设计了一种以风机主控为对象的半实物仿真测试平台。该平台硬件部分包括上位机、目标实时平台、I/O接口及风机控制器;软件部分包括风机仿真模型、仿真管理软件Sim control RT/HOST、控制算法等。仿真测试平台集合了硬件在环、先进建模、信号调理等技术。仿真测试平台基于风机控制器,利用Matlab建立风机仿真模型,可模拟风电机组在多种工况下的运行状况,并能通过GUI界面监控运行过程。利用平台对风机的几个典型工况进行仿真测试,结果验证了仿真平台的有效性,降低了现场测试的风险。
基金Project(2011ZA51001)supported by National Aerospace Science Foundation of China
文摘A decentralized PID neural network(PIDNN) control scheme was proposed to a quadrotor helicopter subjected to wind disturbance. First, the dynamic model that considered the effect of wind disturbance was established via Newton-Euler formalism.For quadrotor helicopter flying at low altitude in actual situation, it was more susceptible to be influenced by the turbulent wind field.Therefore, the turbulent wind field was generated according to Dryden model and taken into consideration as the disturbance source of quadrotor helicopter. Then, a nested loop control approach was proposed for the stabilization and navigation problems of the quadrotor subjected to wind disturbance. A decentralized PIDNN controller was designed for the inner loop to stabilize the attitude angle. A conventional PID controller was used for the outer loop in order to generate the reference path to inner loop. Moreover, the connective weights of the PIDNN were trained on-line by error back-propagation method. Furthermore, the initial connective weights were identified according to the principle of PID control theory and the appropriate learning rate was selected by discrete Lyapunov theory in order to ensure the stability. Finally, the simulation results demonstrate that the controller can effectively resist external wind disturbances, and presents good stability, maneuverability and robustness.
