Two-Terminal Suspension Adaptive Control With Synchronous Compensation for Maglev Wind Turbine Yaw System

The article proposes an adaptive robust controller with synchronization compensation for the Maglev wind turbine yaw system to achieve stable nacelle suspension and pitching suppression. First, two-degree-of-freedom suspension model is constructed with consideration of magnetic coupling and pitching interference, and then deduces a two-terminal suspension control model based on the inverse system. Second, a nominal suspension controller is designed based on the composite error; and then an adaptive synchronization controller is proposed to adjust coupling parameters based on reconstructed synchronous function; an adaptive tracking controller is used to online update dominant control input parameters. The robust controller is to compensate for the influence of the approximation errors during the parameters convergence process. It is proved that the proposed strategy can guarantee the globally uniformly ultimately bounded of all signals, and suspension tracking error and synchronization error can converge to the desired smaller neighborhood of zero. Finally, simulation and experimental results show that the system with the proposed strategy has the faster dynamic response, smaller steady error and synchronization error, and stronger robustness than other two strategies.