Umbrella ladder cluster attitude control method and device considering collision prevention and stability simultaneously

Umbrella ladder cluster attitude control method and device considering collision prevention and stability simultaneously

The embodiment of the invention relates to the technical field of wind power generation, in particular to an umbrella ladder cluster attitude control method and device considering collision prevention and stability at the same time. The method comprises the following steps: determining an aerial umb...

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Hauptverfasser: LI XIAOYU, LEE JUNG-WON, REN ZONGDONG, SUN JIAN, YANG YAJUN, ZHANG XIANG, LUO BIXIONG, ZHANG LI, ZHU HONG, MENG XIANGJUAN
Format: Patent
Sprache:chi ; eng
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CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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creator LI XIAOYU
LEE JUNG-WON
REN ZONGDONG
SUN JIAN
YANG YAJUN
ZHANG XIANG
LUO BIXIONG
ZHANG LI
ZHU HONG
MENG XIANGJUAN
description The embodiment of the invention relates to the technical field of wind power generation, in particular to an umbrella ladder cluster attitude control method and device considering collision prevention and stability at the same time. The method comprises the following steps: determining an aerial umbrella ladder system as a multi-rigid body system formed by connecting a plurality of mass points in series, and further deducing a target system dynamic model taking the effective windward area of a power umbrella capable of being freely opened and closed as a control quantity; acquiring a generalized coordinate of each aerial umbrella ladder system in the umbrella ladder cluster to determine a mixed state error used for representing the anti-collision performance of each aerial umbrella ladder system and a synchronous error used for representing the stability of each aerial umbrella ladder system; and determining a control law of each aerial umbrella ladder system in the umbrella ladder cluster based on the target
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subjects CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
title Umbrella ladder cluster attitude control method and device considering collision prevention and stability simultaneously
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