Search Results (11)

This paper proposes an Adaptive Robust Control (ARC) strategy for pump-controlled pitch systems in large wind turbines to address challenges in control accuracy and energy efficiency. First, a mathematical model integrating pitch angle dynamics and hydraulic characteristics is established, with pitch angle, pitch angular velocity, and hydraulic cylinder thrust as state variables. Then, an ARC strategy is designed using the backstepping method and incorporating parameter adaptation to handle system nonlinearities and uncertainties. The controller parameters are optimized using Particle Swarm Optimization (PSO) under wind disturbance conditions, and comparative analyses are conducted with traditional PID control. The numerical simulation results show that both controllers achieve similar tracking performance under nominal conditions, with PID achieving a 0.08° maximum error and ARC showing a 0.1° maximum error. However, the ARC strategy demonstrates superior robustness under parameter variations, maintaining tracking errors below 0.15°, while the PID error increases to 1.5°. Physical test bench experiments further validate these findings, with ARC showing significantly better performance during cylinder retraction with 0.1° error compared to PID’s 0.7° error. The proposed control strategy effectively handles both the inherent nonlinearities of the pump-controlled system and external disturbances, providing a practical solution for precise pitch control in large wind turbines while maintaining energy efficiency through the pump-controlled approach. Full article

A pumped storage unit is a crucial guarantee in the pursuit of increased clean energy, especially in the progressively severe circumstances of low energy utilization and poor coordination of the integration of volatile renewable energy. However, due to their bidirectional operation design, pumped turbines possess an S-characteristic attribution, wherein the unsteady phenomena of unit vibration, pressure pulsation, and cavitation erosion happen during the start-up process and greatly impact the stable connection to the power grid. Therefore, a systematic study concentrating on an optimal unified paradigm of a start-up strategy for a pumped storage plant is conducted. Model construction, effective analysis, controller design, and collaborative optimization are sequentially expounded. Firstly, a refined start-up nonlinear model of a pumped storage plant with complex boundary conditions is constructed, wherein the delay time of frequency measurement, saturation, and dead zone features are comprehensively taken account. Furthermore, a variable universe fuzzy PID controller and its operation laws are proposed and specifically designed for the speed governing system of the pumped storage plant; the control quality and anti-disturbance performance are verified by a no-load frequency disturbance experiment. On this basis, taking speed overshoot for stationarity and speed rising time for rapidity, a novel open–close loop collaborative fuzzy control strategy is proposed with rotational speed feedback and a variable universe fuzzy PID control. The experiment results show that the proposed unified paradigm has better control performance in various performance indexes, and more balanced control quality and dynamic performance under various complex start-up conditions, which has great application value for ensuring the unit’s timely response to the power grid regulation task and improving the operating stability of the power system. Full article

In order to solve the problem that the data processing accuracy of the characteristic curves is not high, which affects the accuracy of the simulation of variable-speed pumped storage units, this paper proposes a nonlinear hybrid modeling method for pump turbines by integrating Delaunay triangulation interpolation and an improved back-propagation neural network. Firstly, the improved Sutter transform is used to preprocess the original curve, and the convex hull of the transformed curve is calculated. With the unknown point inside the convex hull, Delaunay triangulation interpolation is used to model the transformed curve. With the unknown point outside the convex hull, the back-propagation neural network is first established based on the input and output, and then the initial weights and thresholds of the network are determined using the mind evolution algorithm to complete the modeling and simulation of the curve. Simulation results show that the proposed method fully integrates the high-precision features of interpolation and the powerful nonlinear fitting ability of the neural network, which greatly improves the efficiency and accuracy of pump turbine modeling. Full article

A maximum power point tracking control strategy for an affine nonlinear constant displacement pump-variable hydraulic motor actuation system with parameter uncertainty, used within an offshore hydraulic wind turbine, is studied in this paper. First, we used the feedback linearization method to solve the affine nonlinear problem in the system. However, offshore hydraulic wind turbines have strong parameter uncertainty characteristics. This conflict was resolved through the further application of RBF neural network adaptive control theory. So, we combined feedback linearization with RBF adaptive control as the control theory, and then two control laws were compared by setting the pump rate and rating as outputs, respectively. It is shown by the MATLABR2016a/Simulink emulation results that power control is smoother than speed and friendlier for electric networks. It is also shown by the emulation results, in terms of the undulatory wind speed condition, that the feedback linearization–RBF neural network adaptive control strategy has perfect robustness. According to the simulation results, the feedback linearization–RBF neural network adaptive control strategy adopts the RBF neural network to approach complex nonlinear models and solve the parameter uncertainty problem. This control law also avoids the use of feedback linearization control alone, which can result in the system becoming out of control. Full article

This paper investigates the nonlinear modeling and stability of a doubly-fed variable speed pumped storage power station (DFVSPSPS). Firstly, the mathematical model of DFVSPSPS with surge tank considering nonlinear pump turbine characteristics was derived and established. Then, Hopf bifurcation analysis of DFVSPSPS was performed. The stable region was identified and verified by example analysis. Moreover, the effect mechanism of nonlinear pump turbine characteristics on the stability of DFVSPSPS was explored. Finally, the influence of factors on the stability and dynamic response of DFVSPSPS was studied. The results indicate that the emerged Hopf bifurcation of DFVSPSPS is supercritical and the region on the low side of the bifurcation line is the stable region. Nonlinear head characteristics have a significant influence on the stability and dynamic response of DFVSPSPS. Nonlinear speed characteristics have an obvious effect on the stability and dynamic response of DFVSPSPS only under positive load disturbance and unstable surge tank. Nonlinear head characteristics are unfavorable for the stability of DFVSPSPS under positive load disturbance and favorable under negative load disturbance. A smaller flow inertia of penstock, a smaller head loss of penstock and a greater unit inertia time constant are favorable for the stability of DFVSPSPS. The stable region under the positive disturbance of active power is larger than that under the negative disturbance of active power. The time constant of the surge tank presents a saturation characteristic on the stability of DFVSPSPS. Full article

Hydropower is a kind of clean energy, which can effectively reduce the consumption of fossil energy and is one of the main fields of new energy development. Pumped storage power station not only provides a solution for storing electric energy and generating excess, but also is a clean, efficient, economical and safe power system regulation method with high quality. Accurate modeling of a pump-turbine, as the core equipment of a pumped storage unit, is the key to safe and stable operation of the pumped storage unit. At present, a method of simplifying the external characteristics of a pump-turbine into a first-order linear model is widely used, which cannot effectively and accurately reveal the nonlinear dynamic characteristics of the unit in transition process. In order to meet the demand of high-precision simulation of the unit, a new method of identifying Taylor series expansion considering nonlinearity based on the torque characteristic formula and the flow characteristic formula is proposed, which is applied to the pump-turbine external characteristic model, and retains the second derivative term, making the model a second-order nonlinear model, and thus, the pump-turbine model becomes a nonlinear model. The nonlinear model established is used to simulate the load increase and load rejection of the unit, and the results are compared with those for the linear model. The comparison shows that the nonlinear model established for the pump-turbine can reveal the dynamic response of the unit more effectively and accurately than the linear model, and provide a further guarantee for the safe and stable operation of pumped-storage units, which is of great significance to hydropower energy development. Full article

The doubly-fed variable speed pumped storage unit is a storage system suitable for joint operation with renewable energy sources to smooth the imbalance between renewable energy supply and electricity demand. However, its working principle and operation control are more complex than those of constant speed pumped storage. In this study, a nonlinear model of doubly-fed variable speed pumped storage units (VSPSUs) considering nonlinear characteristics of the head loss is established. The study finds that a supercritical Hopf bifurcation occurs in the system, and the area enclosed by the lower side of the bifurcation line and the coordinate axis is the stability domain of the system. The active power step perturbation from −0.3 to 0.3 will gradually reduce the area of the stability domain and narrow the adjustable range of the control parameters. In addition, the sensitivity of the model full state variables and the primary and secondary relationships to the changes of subsystem parameters is analyzed systematically using the trajectory sensitivity. It is found that there is a large difference in the sensitivity of different state variables to the parameters. The state variables are much more sensitive to the transfer coefficient of hydraulic turbine torque to guide vane opening, the unit inertia time constant, and the controller proportional gain change than other parameters, which are defined as highly sensitive parameters. The receiver response time constant and the turbine flow-to-head transfer coefficient are the corresponding low-sensitivity parameters. Full article

Self-oscillations are one of the common problems in the complex automatic system, that can occur due to the features of the workflow and the design of the governor. The development of digital control systems has made it possible to damp self-oscillations by applying complex control laws. However, for hydromechanical systems, such way is unacceptable due to the design complexity and the governor cost. The objective of this work is to determine the parameters of the hydromechanical free turbine speed controller, ensuring the absence of self-oscillations during ground tests of the turboshaft engine with a hydraulic dynamometer. The TV3-117VM engine (Ukraine) with the NR-3VM regulator pump (Ukraine) was selected as the object of the study. However, self-oscillations can also occur in any modifications of the TV3-117 engine with any NR-3 regulator pump. The results of the research may be of interest to engineers and scientists who investigate the dynamics of automatic control systems for similar engines. The paper analyses the nonlinear features of the empirical characteristics of the FTSC leading to self-oscillations of the engine speed. The authors propose the mathematical model of the automatic control system dynamics, which takes into account all the features of the engine and regulator pump. It is shown that the load characteristics of the water brake and the helicopter main rotor can differ significantly. Research of the dynamic characteristics of the TV3-117VM engine was carried out. The analysis showed a good agreement between the calculation results and the field test results, and made it possible to determine the parameters of the controller, which lead to self-oscillations during test. Two cases are considered. The first case includes ground tests of the engine with a water brake; the second case—flight tests of the engine as part of the helicopter’s power plant. The data obtained make it possible to develop recommendations for adjusting the hydromechanical governor without testing it on the engine. Full article

The pumped storage power station has the characteristics of frequency-phase modulation, energy saving, and economy, and has great development prospects and application value. In order to cope with the large-scale integration and intermittency of renewable energy and improve the ability of pumped storage units to participate in power grid frequency modulation, this paper proposed a load frequency control (LFC) strategy for pumped storage units based on linear active disturbance rejection technology. Firstly, based on the operating characteristics of the pumped storage power station, the LFC model of the two-area reheat steam turbine under nonlinear conditions such as governor dead zone and generation rate constrains was established. Secondly, a second-order linear active disturbance rejection control (LADRC) was designed. The feasibility and control performance of the proposed LFC system were quantitatively analyzed through simulation. The results show that the LADRC has better control effect and stronger robustness than fractional-order proportion integration differentiation (FOPID) and traditional proportion integration differentiation (PID) controller. Finally, the pumped storage power station was added, and it was found that it has better correction performance under both generating and pumping operations, which greatly improved the dynamic response of secondary frequency modulation. Full article

Taking the hydraulic wind turbine as the research object, the method is studied to improve the utilization ratio of wind energy for hydraulic wind turbine, when the wind speed is lower than the rated wind speed. The hydraulic fixed displacement pump speed and generating power can be used as control output to realize the maximum power point tracking control. The characteristics of the maximum power point tracking control are analyzed for hydraulic wind turbine, and the hydraulic output power is taken as control output based on the comprehensive performance requirements. Because the hydraulic wind turbine is a strong multiplication nonlinear system, the system is globally linearized based the feedback linearization method, and the maximum power point tracking control law is obtained. The simulation and experiment results show that the system has good dynamic performance with the proposed control law. The control provides theoretical guidance for optimal power tracking control law application for hydraulic wind turbine. Full article

Accurate parameter identification of pump turbine governing system (PTGS) is of great importance to the precise modeling of pumped storage unit. As PTGS is characterized by uncertainties and strong nonlinear characteristics, it is difficult to identify its parameters. To solve the parameter identification problem for PTGS, an improved backtracking search algorithm (IBSA) is proposed by combining the original BSA with the orthogonal initialization technique, the chaotic local search operator, the elastic boundary processing strategy and the adaptive mutation scale factor. The proposed IBSA algorithm for parameter identification of PTGS was applied on an illustrative example to demonstrate its accuracy and efficiency. The simulation results have shown that IBSA performed better compared with the particle swarm optimization, the gravitational search algorithm and the original BSA in regard to solution quality and parameter identification accuracy. Full article