novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.21.599-608novtexmech-891Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSИсследование регулирования частоты вращения ротора перспективной ветроэнергетической установки с использованием нескольких переменных элементов ее геометрииInvestigation of a Rotor Speed Controlling of a Promising Wind-Driven Power Plant Using Several Variable Elements of its GeometryКостюковВ. А.KostyukovV. A.

Кандида технических наук

г. Ростов-на-Дону

Candidate of Engineering Sciences

Taganrog

wkost-einheit@yandex.ruМедведевM. Ю.MedvedevM. Yu.

Доктор технических наук

г. Ростов-на-Дону

Medvedev Mikhail Yu., Doctor of Engineering Sciences

Taganrog

medvmihal@sfedu.ruПавленкоД. Д.PavlenkoD. D.

Сandidate for a Master’s Degree

Taganrog

dmitrij.pawlencko@yandex.ruМаевскийA. M.MayevskyA. M.

Аспирант

г. Ростов-на-Дону

Postgraduate Student

Taganrog

maevskiy_andrey@mail.ruПолуяновичН.PoluyanovichN. K.

Кандидат технических наук

г. Ростов-на-Дону

Candidate of Engineering Sciences 

Taganrog

nik1-58@mail.ruЮжный Федеральный УниверситетРоссияSouthern Federal UniversityRussian Federation2020071020202110599608Copyright © Commercial Publisher «New Technologies», 20202020Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/891

Рассматриваются варианты стабилизации частоты вращения ротора перспективной вертикально-осевой ветроэнергетической установки, состоящей из двусвязного статора и ротора слопастями. Статор в целом является осесимметричной с ротором частью конструкции, а ротор немного заглублен в верхнюю часть статора — раструб. Эта установка может входить в качестве элемента в комплексную силовую энергетическую установку для дополнительного и аварийного электропитания как стационарных, так мобильных объектов, например, надводных робототехнических комплексов. В работе предлагается использовать аэродинамический метод стабилизации угловой скорости вращения ротора путем управления положениями двух изменяемых элементов конструкции рассматриваемой установки относительно ее статора. В качестве таких элементов могут быть использованы нижняя направляющая структура — один из элементов статора, и аэродинамическая тормозная заслонка. Перестроение положений обоих элементов относительно статора изменяет эффективное сечение взаимодействия входящего в установку ветрового потока с ротором. Подробно рассмотрена методика синтеза регулятора угловой скорости вращения ротора. Особенностью этого регулятора является наличие двух каналов управления при одной переменной состояния. Вначале необходимо определить динамические диапазоны регулирования крутящего момента на валу ротора для каждого из изменяемых элементов геометрии. Это позволяет корректно выбрать условие переключения между двумя каналами управления в зависимости от степени отклонения желаемой скорости потока от текущей скорости. На основании уравнения ошибки регулирования второго порядка и процедуры синтеза редуцированных наблюдателей возмущений вращающего момента получен искомый закон управления угловой скоростью вращения ротора. На примере решения задачи стабилизации угловой скорости с заданными критериями качества проведено моделирование синтезированной системы управления при различных исходных данных. Показано, что построенный регулятор способен эффективно парировать влияние ветровых возмущений в широком диапазоне отклонений текущей скорости от желаемой для данного целевого значения частоты.

Variants of the rotation frequency stabilization of a promising vertically axial wind-driven power plant consisting of a doubly connected stator and a rotor with blades are considered. The stator as a whole is part of the construction, axisymmetric with the rotor, and the rotor is slightly buried in the upper part of the stator — the bell. This plant can be included as an element in a complex power plant for additional and emergency power supply of both stationary and mobile objects, for example, surface robotic systems. The paper proposes to use an aerodynamic method of the rotor angular speed stabilization by controlling the positions of two variable design elements of the plant with respect to its stator. As such elements, a lower guide structure (one of the stator elements) and an aerodynamic brake flap can be used. The rearrangement of both elements positions relative to the stator changes the effective cross section for the interaction of the wind flow entering the installation with the rotor. The method of controller synthesis by the angular speed of the rotor rotation is considered in detail. A feature of this controller is the presence of two control channels with one state variable. First, it is necessary to determine the dynamic ranges of torque control on the rotor shaft for each of the variable geometry elements. This allows to correctly select the switching condition between the two control channels depending on the degree of deviation of the desired flow rate from the current speed. Based on the second-order control error equation, the desired control law of the angular rotor speed is obtained. Using the example of the problem solving of angular speed stabilization with given quality criteria, we simulated a synthesized control system for various initial data. It is shown that the constructed controller is capable of effectively countering the influence of wind disturbances in a wide range of deviations of the current speed from the frequency desired for a given target value.

вихревая ветроэнергетическая установкааэродинамический крутящий моментизменяемые элементы геометрииуравнение ошибки регулированияредуцированные наблюдатели возмущенийстабилизация частоты вращенияvortex type wind-driven power plantaerodynamic torquevariable geometry elementsregulation error equationreduced disturbance observersrotation frequency stabilizationAcknowledgments. 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The authors declare that there are no conflicts of interest present.