This article presents a novel technique for the design of a robust dynamic nonlinear observer in the $H_{\infty }$ scheme for the Lipschitz nonlinear model of the wind turbine. It is a challenging problem due to the aerodynamic nonlinearity of blades. A drive train of the 100 KW wind turbine benchmark model, developed by Aalborg University and KK-electronic a/c, is conducted to exhibit the effectiveness of the proposed observer approach. The new Lipschitz constant definition for this system is expressed. Based on the new dynamic method, the Lipschitz constant is increased. Therefore, the operating region is increased. A new dynamic sliding mode observer is introduced for torque estimation in the drive train. The design methodology is the use of dynamic gain instead of static one in the sliding mode observer. The dynamic observer design offers an extra degree of freedom over the classical static gain observer. We established the conditions for the suggested dynamic observer stability. The proposed approach provides the observer robustness against nonlinear uncertainties due to the maximizing the Lipschitz constant. Moreover, the design procedure with the effect of system and sensor noises is considered. Results illustrate the advantage of this work in comparison with other observers. Finally, the results are evaluated with the wind turbine simulator software FAST.

本文提出了一种新颖的技术，用于设计机器人中的鲁棒动态非线性观测器。 $H_{\infty }$Lipschitz非线性模型的改进方案。由于叶片的空气动力学非线性，这是一个具有挑战性的问题。奥尔堡大学和KK-electronic a / c共同开发了100 KW风力发电机基准模型的传动系统，以展示所提出的观察者方法的有效性。表达了该系统的新Lipschitz常数定义。基于新的动态方法，增加了Lipschitz常数。因此，增加了操作区域。引入了新的动态滑模观察器，用于估算传动系统中的扭矩。设计方法是在滑模观察器中使用动态增益而不是静态增益。与经典的静态增益观察器相比，动态观察器设计提供了额外的自由度。我们为建议的动态观察者稳定性建立了条件。由于使Lipschitz常数最大化，因此所提出的方法为观察者提供了针对非线性不确定性的鲁棒性。此外，考虑了受系统和传感器噪声影响的设计程序。结果表明，与其他观察者相比，这项工作的优势。最后，使用风力涡轮机模拟器软件FAST对结果进行评估。