Abstract
In this paper, a novel finite-time command filtered backstepping control algorithm is proposed to address the problems of high order nonlinearity, noise and friction interference when tracking the pitch angles of wind turbine hydraulic pitch systems. Since taking derivative is not required, the system noise cannot be amplified in the algorithm design process. The finite-time command filter is first employed to filter the state variables of the hydraulic pitch systems to eliminate the interference caused by the noise and friction. Moreover, the filter is combined with backstepping design to approximate the derivatives of virtual control variables to avoid “Differential expansion” phenomenon. In addition, in order to ensure the accuracy of the filtered signals to approximate the virtual control variables, a finite-time error compensation mechanism is designed. Simulation results show the effectiveness and high-precision tracking performance of the proposed algorithm in this paper.
Highlights
As large-scale wind turbines continues to increase, hydraulic pitch systems are widely used in the turbines
In order to realize the bounded position tracking performance of wind turbine hydraulic pitch systems and improve the tracking accuracy of pitch angle, we proposes a finite-time command filtered backstepping control strategy in this paper
The expression of the friction torque is shown in formula (42). It is well known from FIGURE 4.(b) that the pitch angle based on the PID control algorithm has large deviations under the action of the interference of noise and friction, which shows the lack of adaptive capability of the PID control algorithm
Summary
As large-scale wind turbines continues to increase, hydraulic pitch systems are widely used in the turbines. Reference [4]–[6] proposed using genetic algorithm and fuzzy rule to optimize the parameters of PID controller to achieve adaptive control and improve the tracking performance of hydraulic systems. H. Ren et al.: Finite-Time Command Filtered Backstepping Algorithm-Based Pitch Angle Tracking Control. To realize progressive tracking in pitch systems, backstepping control was combined with adaptive rules to solve nonlinearity and parameter time-varying in pitch systems in [25] and [26]. In order to realize the bounded position tracking performance of wind turbine hydraulic pitch systems and improve the tracking accuracy of pitch angle, we proposes a finite-time command filtered backstepping control strategy in this paper. Command filtered backstepping control algorithm in this paper has faster convergence speed and stronger anti-interference capacity
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