Performance of disturbance augmented control design in turbulent wind conditions

This paper investigates the use of disturbance models in the design of wind turbine individual pitch controllers. Previous work has used individual pitch control and disturbance models with the Multiblade Coordinate Transformation to design controllers that reduce the blade loads at the frequencies associated with the rotor speed. This paper takes a similar approach of using a disturbance model within the H_∞ design framework to account for periodic loading effects. The controller is compared with a baseline design that does not include the periodic disturbance model. In constant wind speeds, the disturbance model design is significantly better than the baseline design at canceling blade loads at the rotor frequencies. However, these load reduction improvements become negligible even under low turbulent wind conditions. The two controllers perform similarly in turbulent wind conditions because disturbance augmentation improves load reduction only at the multiples of the rotor frequency in the yaw and tilt moment channels whereas turbulence creates strong collective bending moments. In addition, turbulent wind contains energy across a broad frequency spectrum and improvements at multiples of the rotor frequency are less important in these conditions. Therefore inclusion of periodic disturbance models in the control design may not lead to the expected load reduction in fielded wind turbines.     

Performance analysis of individual blade pitch control of offshore wind turbines on two floating platforms

Individual blade pitch state space (IBP SS) control and disturbance accommodating control (DAC) that reject wind speed perturbations are applied on a 5 MW wind turbine mounted on the barge and tension leg floating platforms for performance comparison in above rated wind speed region. The DAC used in this study is simply an IBP SS controller with a wind speed disturbance rejection component. For each controller implemented onshore and on the floating platforms, 60 10-min simulations with a variety of wind and wave conditions, where applicable, are carried out in accordance with the IEC-61400-3 standard design load case 1.2 for fatigue load testing. Results show that even with large tower load reductions by the IBP SS controller on the barge platform, these loads are still at least two and up to five times more than that for an onshore wind turbine. DAC on the barge platform has little impact on further improving the performance of the IBP SS controller. DAC on the tension leg platform manages to achieve loads comparable to that of the onshore system. Power and rotor speed regulation are improved and tower side-side load is reduced. Only the tower fore-aft load is 24% higher than the onshore wind turbine.     

Adding feedforward blade pitch control to standard feedback controllers for load mitigation in wind turbines

Combined feedback/feedforward blade pitch control is compared to industry standard feedback control when simulated in realistic turbulent winds. The feedforward controllers are designed to reduce fatigue loads, increasing turbine lifetime and therefore reducing the cost of energy. Two feedforward designs are studied: collective-pitch model-inverse feedforward using a non-causal series expansion and individual-pitch gain-scheduled shaped compensator. The input to the feedforward controller is a measurement of incoming wind speed, which could potentially be provided by LIDAR. Three of the designs reduce structural loading compared to standard feedback control, without reducing power production.     

Solid State Voltage and Frequency Controller for a Stand Alone Wind Power Generating System

This paper deals with the voltage and frequency controller of a wind turbine driven isolated asynchronous generator. The proposed voltage and frequency controller consists of an insulated gate bipolar junction transistor based voltage source converter along-with battery energy storage system at its dc link. The proposed controller is having bidirectional active and reactive powers flow capability by which it controls the system voltage and frequency with variation of consumer loads and the speed of the wind turbine. It is also having capability of harmonic elimination and load balancing. The proposed electro-mechanical system along with its controller is modeled and simulated in MATLAB using Simulink and power system block-set toolboxes. Performance of the proposed controller is presented to demonstrate voltage and frequency control of a wind turbine driven isolated asynchronous generator along with harmonic elimination and load balancing.     

Generator speed regulation in the presence of structural modes through adaptive control using residual mode filters

Wind turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, potentially causing component fatigue and failure. Two key technology drivers for turbine manufacturers are increasing turbine up time and reducing maintenance costs. Since the trend in wind turbine design is towards larger, more flexible turbines with lower frequency structural modes, manufacturers will want to develop control paradigms that properly account for the presence of these modes. Accurate models of the dynamic characteristics of new wind turbines are often not available due to the complexity and expense of the modeling task, making wind turbines ideally suited to adaptive control approaches. In this paper, we develop theory for adaptive control with rejection of disturbances in the presence of modes that inhibit the controller. A residual mode filter is introduced to accommodate these modes and restore important properties to the adaptively controlled plant. This theory is then applied to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine. The adaptive pitch controller is compared in simulations with a baseline classical proportional integrator (PI) collective pitch controller.     

Robust and fault-tolerant linear parameter-varying control of wind turbines

High performance and reliability are required for wind turbines to be competitive within the energy market. To capture their nonlinear behavior, wind turbines are often modeled using parameter-varying models. In this paper we design and compare multiple linear parameter-varying (LPV) controllers, designed using a proposed method that allows the inclusion of both faults and uncertainties in the LPV controller design. We specifically consider a 4.8 MW, variable-speed, variable-pitch wind turbine model with a fault in the pitch system.We propose the design of a nominal controller (NC), handling the parameter variations along the nominal operating trajectory caused by nonlinear aerodynamics. To accommodate the fault in the pitch system, an active fault-tolerant controller (AFTC) and a passive fault-tolerant controller (PFTC) are designed. In addition to the nominal LPV controller, we also propose a robust controller (RC). This controller is able to take into account model uncertainties in the aerodynamic model.The controllers are based on output feedback and are scheduled on an estimated wind speed to manage the parameter-varying nature of the model. Furthermore, the AFTC relies on information from a fault diagnosis system.The optimization problems involved in designing the PFTC and RC are based on solving bilinear matrix inequalities (BMIs) instead of linear matrix inequalities (LMIs) due to unmeasured parameter variations. Consequently, they are more difficult to solve. The paper presents a procedure, where the BMIs are rewritten into two necessary LMI conditions, which are solved using a two-step procedure.Simulation results show the performance of the LPV controllers to be superior to that of a reference controller designed based on classical principles.     

Innovative adaptive pitch control for small wind turbine fatigue load reduction

As a renewable source of energy, wind is widely used to produce electrical power. The progress of wind turbine technology can greatly benefit from the improvement of control algorithms. The pitch angle control of a horizontal axis wind turbine above the rated wind speed is a challenging issue related to the nonlinear aerodynamic behavior of blades. The linearization of aerodynamic model around nominal operating condition, as well as manufacturing deficiencies, result in unknown parameter uncertainties in a wind turbine model. Therefore, the performance of controller, which is designed based on the mathematical model, defects in practice. In the current paper, an adaptive self-tuning regulator (STR) configuration is proposed for the pitch control, so that the parameters of wind turbine model are constantly estimated and the controller gains are updated based on the assessed parameters. The STR structure consists of a recursive least square estimator and a proportional-integral-derivative (PID) controller with adjustable gains, which are determined by the pole placement method in a real-time routine. The robustness of the closed loop system is investigated by implementation of the control structure on an aero-servo-elastic wind turbine simulator. For the sake of comparison, a baseline gain scheduling PID controller, which is well-accepted for wind turbine pitch control, is designed. A comparison between the simulations of two controllers confirms a significant improvement in the closed-loop performance including less fluctuation of rotor speed and power besides minor fatigue loads on the blades and main-shaft.     

实验室模拟风力机的研究

为了解决实验室风力机的模拟问题,提出了直流电机模拟风力机的方案。同时分析了风力机的运行特性及最佳风能利用原理,采用简单有效的转速、转矩控制,搭建风力机的Matlab仿真模型。该风力机模拟系统应用于变速恒频风力发电系统中,满足了双馈电机在不同状态下运行以及追踪最大风能的变速恒频发电运行等方面研究的需要。     

Insights in wind turbine drive train dynamics gathered by validating advanced models on a newly developed 13.2 MW dynamically controlled test-rig

Guaranteeing reliable and cost-effective wind turbine drive trains requires expert insights in dynamics during operation. A combination of advanced modeling techniques and detailed measurements are suggested to realize this goal. The flexible multibody modeling technique enables the simulation of dynamic loads on all drive train components. Moreover it facilitates estimation of structural component deformation caused by dynamic loading. This paper gives a detailed overview of the assumptions made in this modeling approach. Furthermore the influence of the different structural component flexibilities is investigated in detail. To gain confidence in the models created, model validation by means of a comparison with measurements is necessary. To overcome issues concerning test repeatability experienced in field testing, test-rig testing is suggested as a valid alternative. In order to be representative, dedicated dynamic load cases, which represent specific dynamic behavior of the gearbox in a wind turbine need to be realized on the test-rig. However a highly dynamic test-rig complying with the specifications was not commercially available. Therefore Hansen developed a high dynamic test-rig with a nominal power of 13.2 MW and a peak power capacity of 16.8 MW. A back-to-back gearbox configuration was used. The complexity of controlling dynamics of the test-rig was solved by identifying dedicated load cases which represent specific wind turbine behavior. This paper describes the development process of the project consisting of four phases. During two phases a scaled set-up was used, which enabled iterative optimization of the complex interaction between the mechanical dynamics and the electrical controller of the test-rig. In the final part of the paper the two previously discussed approaches are combined, as it discusses results from the validation of simulation models using measurements performed on the 13.2 MW test-rig.     

Pitch controller for wind turbine load mitigation through consideration of yaw misalignment

Recent developments in sensor and actuator technologies have promoted the design and implementation of individual pitch controllers (IPCs) to mitigate fatigue loads on turbine blades caused by vertical wind shear. So far, IPCs have been designed assuming perpendicularity of the oncoming wind with respect to the turbine rotor plane as an independent yaw controller is dedicated to eliminate any misalignments. In this paper, a multi-input-multi-output (MIMO) IPC is designed based on the knowledge of mitigated blade load at a yawed inflow condition (i.e., yaw misalignment at certain angular position). Nonetheless, the proposed IPC is still to operate in the typical turbine configuration, in which the turbine is aligned with the wind direction. Performance of the proposed IPC is compared with that of the baseline collective pitch controller (CPC) and baseline IPC on simulations of the NREL 5 MW reference turbine at various turbulent wind conditions. Compared with the baseline CPC, the proposed controller is shown to contribute at least a 31.54% reduction in the blade out-of-plane fatigue load, a 35.32% reduction in the tower fore-aft fatigue load, and a 29.80% reduction in the tower side-to-side fatigue load.     

Structural control of floating wind turbines

The application of control techniques to offshore wind turbines has the potential to significantly improve the structural response, and thus reliability, of these systems. Passive and active control is investigated for a floating barge-type wind turbine. Optimal passive parameters are determined using a parametric investigation for a tuned mass damper system. A limited degree of freedom model is identified with synthetic data and used to design a family of controllers using H_∞ multivariable loop shaping. The controllers in this family are then implemented in full degree of freedom time domain simulations. The performance of the passive and active control is quantified using the reduction in fatigue loads of the tower base bending moment. The performance is calculated as a function of active power consumption and the stroke of the actuator. The results are compared to the baseline and optimal passive system, and the additional achievable load reduction using active control is quantified. It is shown that the optimized passive system results in tower fore-aft fatigue load reductions of approximately 10% compared to a baseline turbine. For the active control, load reductions of 30% or more are achievable, at the expense of active power and large strokes. Active control is shown to be an effective means of reducing structural loads, and the costs in power and stroke to achieve these reductions are demonstrated.     

Extreme learning machine approach for sensorless wind speed estimation

Precise predictions of wind speed play important role in determining the feasibility of harnessing wind energy. In fact, reliable wind predictions offer secure and minimal economic risk situation to operators and investors. This paper presents a new model based upon extreme learning machine (ELM) for sensor-less estimation of wind speed based on wind turbine parameters. The inputs for estimating the wind speed are wind turbine power coefficient, blade pitch angle, and rotational speed. In order to validate authors compared prediction of ELM model with the predictions with genetic programming (GP), artificial neural network (ANN) and support vector machine with radial basis kernel function (SVM-RBF). This investigation analyzed the reliability of these computational models using the simulation results and three statistical tests. The three statistical tests includes the Pearson correlation coefficient, coefficient of determination and root-mean-square error. Finally, this study compared predicted wind speeds from each method against actual measurement data. Simulation results, clearly demonstrate that ELM can be utilized effectively in applications of sensor-less wind speed predictions. Concisely, the survey results show that the proposed ELM model is suitable and precise for sensor-less wind speed predictions and has much higher performance than the other approaches examined in this study.     

Wind Speed Estimation Based Sensorless Output Maximization Control for a Wind Turbine Driving a DFIG

This paper proposes a wind speed estimation based sensorless maximum wind power tracking control for variable-speed wind turbine generators (WTGs). A specific design of the proposed control algorithm for a wind turbine equipped with a doubly fed induction generator (DFIG) is presented. The aerodynamic characteristics of the wind turbine are approximated by a Gaussian radial basis function network based nonlinear input-output mapping. Based on this nonlinear mapping, the wind speed is estimated from the measured generator electrical output power while taking into account the power losses in the WTG and the dynamics of the WTG shaft system. The estimated wind speed is then used to determine the optimal DFIG rotor speed command for maximum wind power extraction. The DFIG speed controller is suitably designed to effectively damp the low-frequency torsional oscillations. The resulting WTG system delivers maximum electrical power to the grid with high efficiency and high reliability without mechanical anemometers. The validity of the proposed control algorithm is verified by simulation studies on a 3.6MW WTG system. In addition, the effectiveness of the proposed wind speed estimation algorithm is demonstrated by experimental studies on a small emulational WTG system.     

基于最佳功率给定的永磁直驱同步风力发电系统控制策略研究

直驱型风力发电系统由于不需要增速箱,在风电场中得到广泛的发展和应用.该文研究了发电机和风机的特性分析,提出了基于最佳功率给定的最大风能控制策略,该方法通过对发电机进行闭环控制,使输出功率按照最优功率曲线进行输出,实现最大风能跟踪.并研究了永磁直驱风电系统的双PWM变流器控制策略;搭建了直驱型风电机组整体模型,该系统能够实现并风能最大功率跟踪及并网控制,仿真验证了控制系统的正确性.     

OPC技术在风电场有功功率控制系统中的应用

本文对风电场有功功率控制自动化技术及其与信息管理系统的集成进行了研究,针对目前风电场提供的标准OPC DA服务器,设计了基于OPC DA2.0和3.0规范的OPC客户端,实现了风电场有功功率控制系统同风电场现场各风力发电机组通信控制器间的通信。     

基于单–双高斯模型拟合法的测风激光雷达海上风电机组尾流特征分析

当气流经过风电机组的扫风平面时, 风电机组下风处产生的尾流效应会对风电机组的发电效率、疲劳载荷产 生不同程度的影响。基于相干多普勒测风激光雷达在江苏某海上风电场开展了全天候风场观测实验。由于紧邻风电 机组的尾流垂直截面上风速呈双高斯分布规律, 利用传统单高斯拟合算法存在计算误差较大, 无法反映真实流场风速 变化规律, 提出了一种单–双高斯模型拟合改进算法, 分析了目标风电机组尾流的尾流宽度、风速损失率和尾流长度 等参数特征, 研究结果验证了单–双高斯拟合算法对尾流横向风速拟合的可行性和准确性。     

直驱永磁同步风机低电压穿越控制方法研究

本文给出了用于直驱永磁同步风力发电系统暂态分析的传动轴系的双质块模型和全功率变流器数学模型,分析了低电压故障下直驱永磁风力发电系统的暂态特性。提出了相应的变流器改进技术措施,利用PowerFactory/DIgSILENT仿真软件对所设计的LVRT改进控制方法进行仿真建模,并验证了其有效性。     

国内风电场建设情况概述

风能是一种清洁的可再生能源,近年来风力发电逐渐成为许多国家可持续发展战略的重要组成部分,发展迅速。中国风能储量很大、分布面广,开发利用潜力巨大。介绍了国内装机容量较大的部分省市的风电场建设情况。总结了制约风电发展的几个重要问题。最后列出了几条风电发展的必然趋势。     

一种基于变速恒频的双馈风力发电MPPT设计

采用双PWM控制型变流器,变速恒频发电技术,变浆距角进行最佳风能追踪(MPPT)控制。分析了如何由绕线式异步电动机参数设计出双馈风力发电最大风能跟踪控制的风力机参数。通过Matlab仿真,分析了风机的切入风速、切出风速、风速过大情况下的变桨距角控制及浆距角随风速减小而自动恢复的最大风能跟踪特性,验证了控制策略的有效性和可行性。     

基于模糊控制的风电机组变桨距控制

针对风力发电机组非线性、时变性的问题,提出采用模糊PID控制器作为变桨距控制器,在风速高于额定风速时,依据风速变化情况调整桨距角,从而使风电机组保持恒功率输出,最后在MATLAB平台上搭建仿真模型。结果表明,采用模糊PID控制比传统PID控制具有更好的动态性能和静态误差,能够优化变桨距控制方法。