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論文名稱 Title |
設計分散式區塊步階迴歸追蹤控制器及應用於風力發電系統 Design of Decentralized Block Backstepping Tracking Controllers with Application to Wind Power Systems |
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系所名稱 Department |
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畢業學年期 Year, semester |
語文別 Language |
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學位類別 Degree |
頁數 Number of pages |
90 |
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研究生 Author |
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指導教授 Advisor |
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召集委員 Convenor |
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口試委員 Advisory Committee |
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口試日期 Date of Exam |
2015-06-30 |
繳交日期 Date of Submission |
2015-07-30 |
關鍵字 Keywords |
半嚴格回授系統、適應性區塊步階迴歸控制器、李亞普諾夫穩定理論、風力發電、擾動估測、分散式控制器、大型系統 decentralized control, large scale system, semi-strict feedback form, adaptive block backstepping control, excitation synchronous generator, perturbation estimation, virtual input |
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統計 Statistics |
本論文已被瀏覽 5667 次,被下載 0 次 The thesis/dissertation has been browsed 5667 times, has been downloaded 0 times. |
中文摘要 |
基於李亞普諾夫穩定度理論,我們利用適應性步階迴歸技術針對具有互聯項擾動的多輸入大型系統設計具有擾動估測之分散式區塊步階迴歸控制器以解決追蹤問題。而動態方程式不需要滿足區塊嚴格回授之形式。此外,將使用的分散式控制器應用到風力發電系統上。首先介紹虛擬控制器的設計,再其次是控制輸入的設計。在設計過程中利用擾動估測機制,以至於虛擬控制器的微分不需要親自計算。由於在虛擬控制器及控制輸入加入適應的機制,所以擾動和擾動估測誤差的上界不需要先知道。其中追蹤的精準度也可以藉由設計的參數來調整。最後本論文提供一個數值範例和應用在風力發電上來驗證本控制器的可行性。 |
Abstract |
Based on the Lyapunov stability theorem, a design methodology of decentralized adaptive block backstepping control with perturbation estimation scheme is proposed in this thesis for a class of multi-input large-scale systems whose dynamic equations do not need to be in the block-strict feedback form. In addition, the proposed decentralized controller is applied to a wind power generator's system. The design of virtual inputs are firstly introduced, then followed by the design of control inputs. Perturbation estimation mechanisms are employed in the proposed control scheme, so that the derivatives of virtual input functions do not need to be computed in person. Since adaptive mechanisms are also embedded both in the virtual input functions and control inputs, the upper bounds of perturbations and perturbation estimation errors are not required to be known in advance. Furthermore, the resultant control scheme guarantees the stability of the whole controlled systems, and the tracking precision can be adjusted by tuning the design parameters. Finally, a numerical and a practical examples of wind power systems are given for demonstrating the feasibility of the proposed control scheme. |
目次 Table of Contents |
Contents 論文審定書 ……………………………………………………………………… i 致謝 ……………………………………………………………………………… ii 中文摘要 ………………………………………………………………………… iii Abstract ………………………………………………………………………… iv List of Figures …………………………………………………………………… vii Chapter 1 Introduction 1 1.1 Motivation …………………………………………………………………… 1 1.2 Brief Sketch of the Contents ………………………………………………… 4 Chapter 2 Mathematical Model of Wind Power Systems 6 2.1 Permanent Magnet Synchronous Motor …………………………………… 7 2.2 The Excitation Synchronous Generator …………………………………… 8 2.3 Park’s Transformation (dq Transformation) …………………………… 10 2.4 The Dynamic Model of the Wind Power Systems ……………………… 13 Chapter 3 Design of Decentralized Adaptive Backstepping Controllers 16 3.1 System Descriptions and Problem Formulations …………………………… 16 3.2 Design of Virtual Inputs …………………………………………………… 19 3.3 Design of Controllers and Analysis of Stability …………………………… 34 3.4 Perturbation Estimation …………………………………………………… 44 Chapter 4 Numerical and Application 46 4.1 Numerical Example ………………………………………………………… 46 4.2 Practical Application ……………………………………………………… 63 Chapter 5 Conclusions 71 Bibliography 72 Appendix 78 Appendix A 78 Appendix B 79 |
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