以同時擾動隨機近似法為基礎之風力機轉軸線上PID控制器參數調整

On-line PID-Controller Parameter Tuning Using SPSA for Wind Turbine Yaw Control

邱昱瑋(Yu-Wei Chou)

指導教授 ： 洪穎怡

中原大學/工學院/電機工程研究所/碩士(2007年)

https://doi.org/10.6840/cycu200700067

摘要

利用主動式轉軸控制使水平軸式風力發電機能定位於最大功率點，是相當重要也是值得探討的問題。有別於以往風力發電機通常需要風向感測器來做定位之依據，在此吾人提出了只要量取風力發電系統輸出之電壓及電流來換算功率，而不需要任何風向之感測器，就能有效使之定位於最大功率點之爬山搜尋法，並經過模擬及實驗證明此方法之可行性。

而對於帶動風力機轉向定位之直流馬達，吾人亦提供一線上自動調節之PID控制器，利用同時擾動隨機近似演算法(SPSA)來作為線上調整控制器之法則，自動搜尋最佳之PID參數，進行線上參數之調整。文中亦進行最佳化PID控制器之理論推導與電腦模擬，在確定此控制器之理想性之後，亦利用此控制器與爬山搜尋法作結合，增加整體系統之穩定性，有效進行風力發電機最大功率點之定位控制，最後利用FPGA將其整合實現。

關鍵字

PID控制器 ； 同時擾動隨機近似演算法 ； FPGA ； 爬山搜尋法 ； 風力發電機 ； 主動式轉軸控制

並列摘要

It’s a very important and worthy to discuss how to use active yaw control to position the maximum power point with a horizontal axis wind turbine which usually needs wind direction sensor to position. The mountain climbing method based on measurement of the voltage and current from wind-turbine generator system (WTGS) to calculate the power for the maximum power point without any wind direction sensors is proposed. It’s verified by computer simulations and experiments.

An on-line parameter tuning PID controller for DC motor to position the wind turbine is also presented. The on-line parameter tuning policy is based on the Simultaneous Perturbation Stochastic Approximation (SPSA) technique. Three PID parameters can tuned consecutively until the optimal values are attained. The proposed approach has been confirmed by computer simulations and experiments. The PID controller is also combined with the mountain climbing method to increase system’s stability and locate the maximum power point effectively. Finally, the FPGA is used to realize the proposed method.

並列關鍵字

active yaw control ； mountain climbing method ； wind turbine ； FPGA ； SPSA ； PID controller

參考文獻

〔42〕 王建斌，風力發電系統最大功率追蹤方法之研究，中原大學，電機工程學系研究所，碩士論文，民國94年7月。

〔5〕 I.K.Buehring and L.L.Freris, “Control Policies for Wind-Energy Conversion Systems”, IEE Proc.Vol. 128, Pt C, no 5, pp 253-261, Step/1981.

〔6〕 E. Koutroulis, K. Kalaitzakis and N.C. Voulgaris, “Development of a microcontroller-based photovoltaic maximum power point tracking control system,” IEEE Transactions on Power Electronics, Vol. 16, No. 1, pp. 46-54, Jan. 2001.

〔7〕 K.H. Hussein, I. Muta, T. Hoshino and M. Osakada, “Maximum Photovoltaic Power Tracking: An Algorithm for Rapidly Changing Atmospheric Condition,” IEE Proceedings-Generation Transmission Distribution, Vol. 142, No. 1, pp. 59-64 Jan. 1995.

〔8〕 J.H.R. Enslin, ”Maximum Power Point Tracking: A Cost Saving Necessity in Solar Energy Systems,” Conference of IEEE IECON, Vol. 2, pp.1073-1077, 1990.