无风速反馈抽运式机载风能系统的最优卷取控制策略
An optimal reeling control strategy for pumping airborne wind energy systems without wind speed feedback
摘要：
泵送空中风能（AWE）系统采用风筝通过系绳的循环卷绕运动将风能转换成电力。考虑了以平均循环功率最大为目标的最佳卷取速度的计算问题。困难源于两个方面：1）风速的不确定性，时间（和空间）变化的性质，这是不能准确测量的，以及2）需要考虑，在同一优化问题中，不同的操作阶段的功率循环。提出了一种新的，基于模型的方法，解决了这个问题。在设计阶段，采用AWE系统的模型来收集与在各种卷入/卷出速度对下获得的循环功率有关的数据，假设已知风速。然后，从这些数据中识别的非线性映射被用作优化程序中的代价函数，该优化程序计算每个风速的最佳卷收和卷出速度对。最后，利用优化结果来推断最佳卷绕速度和系绳力之间的联系，这两者都是高精度测量的。这样的链接用于设计反馈控制器，该反馈控制器基于测量的系绳力来计算卷绕速度，以便收敛于最佳力-速度流形。仿真结果表明了该方法的有效性。
英文摘要：
Pumping airborne wind energy (AWE) systems employ a kite to convert wind energy into electricity, through a cyclic reeling motion of the tether. The problem of computing the optimal reeling speed for the sake of maximizing the average cycle power is considered. The difficulty stems from two aspects: 1) the uncertain, time- (and space-) varying nature of wind speed, which can not be measured accurately, and 2) the need to consider, in the same optimization problem, the different operational phases of the power cycle. A new, model-based approach that solves this problem is proposed. In the design phase, a model of the AWE system is employed to collect data pertaining to the cycle power obtained with various reel-in/reel-out speed pairs, assuming known wind speed. Then, a nonlinear map, identified from these data, is used as cost function in an optimization program that computes the best reel-in and -out speed pairs for each wind speed. Finally, the optimization results are exploited to infer the link between optimal reeling speed and tether force, which are both measured with high accuracy. Such a link is used to design a feedback controller that computes the reeling speed based on the measured tether force, in order to converge on the optimal force-speed manifold. Simulation results with a realistic model illustrate the effectiveness of the approach.
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