Pitch angle control in wind turbines above the rated wind speed by multi-layer perceptron and radial basis function neural networks

In wind energy conversion systems, one of the operational problems is the changeability and discontinuity of wind. In most cases, wind speed can fluctuate rapidly. Hence, quality of produced energy becomes an important problem in wind energy conversion plants. Several control techniques have been applied to improve the quality of power generated from wind turbines. Pitch control is the most efficient and popular power control method, especially for variable-speed wind turbines. It is a useful method for power regulation above the rated wind speed. This paper proposes an artificial neural network-based pitch angle controller for wind turbines. In the simulations, a variable-speed wind turbine is modeled, and its operation is observed by using two types of artificial neural network controllers. These are multi-layer perceptrons with back propagation learning algorithm and radial basis function network. It is shown that the power output was successfully regulated during high wind speed, and as a result overloading or outage of the wind turbine was prevented.     

Sensorless adaptive output feedback control of wind energy systems with PMS generators

This paper addresses the problem of controlling wind energy conversion (WEC) systems involving permanent magnet synchronous generator (PMSG) fed by IGBT-based buck-to-buck rectifier–inverter. The prime control objective is to maximize wind energy extraction which cannot be achieved without letting the wind turbine rotor operate in variable-speed mode. Interestingly, the present study features the achievement of the above energetic goal without resorting to sensors of wind velocity, PMSG speed and load torque. To this end, an adaptive output-feedback control strategy devoid of any mechanical sensor is developed (called sensorless), based on the nonlinear model of the whole controlled system and only using electrical variables measurements. This control strategy involves: (i) a sensorless online reference-speed optimizer designed using the turbine power characteristic to meet the maximum power point tracking (MPPT) requirement; (ii) a nonlinear speed regulator designed by using the backstepping technique; (iii) a sensorless interconnected adaptive state observer providing online estimates of the rotor position as well as speed and load/turbine torque. The proposed output-feedback control strategy is backed by a formal analysis showing that all control objectives are actually achieved. Several simulations show that the control strategy enjoys additional robustness properties.     

基于反馈线性化的液压型风力发电机组最佳功率追踪控制

液压型风力发电机组在额定风速以下时为获得最多电能,需随风速变化追踪最佳功率点.建立并网液压型风力发电机组仿射非线性数学模型,基于反馈线性化方法,分别以风力机转速和液压系统传输功率为输出,以变量马达摆角为控制输入,线性化系统,设计最佳转速与最佳功率追踪控制器,实现机组在额定风速以下随风速变化输出最佳功率.仿真结果表明,以液压系统传输功率为控制输出的功率追踪过程动静态特性较好.理论分析表明,控制器中高压腔压力变化率是否可以规划,是影响功率追踪过程稳定性的关键因素.     

Adaptive and Predictive Control Strategies for Wind Turbine Systems: A Survey

The wind turbine (WT) is a renewable energy conversion device for transformation of kinetic energy from the wind to mechanical energy for subsequent use in different forms. This paper focuses on wind turbine control design strategies. The content is divided into the following parts: 1) An overview of the recent advances that have been made in the application of adaptive and model predictive control strategies for wind turbines. 2) Summarizes some important aspects of modeling of wind turbines for control studies. 3) Provides an outlook on the application of adaptive model predictive control for uncertain systems to stimulate new research interests for wind turbine systems. We provide an overall picture of the research results with evaluation of the merits/demerits.      

Robust control of wind turbines based on fractional nonlinear disturbance observer

In order to assure maximum energy conversion, the angular velocity of the wind turbine rotor tracks a nominal profile depending on the wind speed. However, conventionally, wind flows present non‐differentiable components due to turbulence and gust winds, which affect the wind energy management. Thus, a fast and robust controller is required to induce such nominal regime for maximum energy transfer. A fractional‐order nonlinear disturbance‐observer (FNDOB) is proposed in this paper to cancel the non‐differentiable components of the wind speed, as well as dynamic uncertainties and other aerodynamic disturbances. The proposed FNDOB is based on continuous fractional sliding modes, assuring that disturbances and uncertainties are exactly compensated in finite‐time. A representative simulation study for a variable‐speed wind turbine is presented to show the reliability of the proposed scheme, and a comparative analysis with respect to a conventional linear disturbance observer based control is presented.     

基于微分几何的风力发电机组恒功率控制

当风速超过额定值时, 可以通过降低风力机的转速实现恒功率控制从而避免使用复杂的变桨距机构, 本文基于微分几何理论设计了非线性控制器, 实现了变速风力发电机组的恒功率控制. 首先, 分析了风力机的空气动力学特性, 这是所提出的恒功率控制方法的理论依据; 然后, 通过微分几何反馈线性化变换, 将风力机的非线性模型全局线性化; 最后, 基于新的线性化模型设计了非线性控制器, 实现了变速风力机的全局精确线性化控制. 仿真结果表明, 所提出的控制方法在风速大范围变化的情况下能有效的实现变速风力发电机组额定风速以上的恒功率控制.     

永磁同步发电机风能转换系统滑模控制仿真

针对由于风速的随机波动性而使基于线性定常控制器的风能转换系统稳定性较差的问题,提出了一种基于滑模控制的永磁同步发电机风能转换系统的设计方案;分析了该系统中风力机模型、传动装置模型和永磁同步发电机模型的建立原理,介绍了滑模控制策略的具体实现。仿真结果表明,该系统具有较好的速度跟踪特性,实现了最大风能捕获。     

Gain-scheduling control of a floating offshore wind turbine above rated wind speed

This paper presents an application of gain-scheduling(GS) control techniques to a floating offshore wind turbine on a barge platform for above rated wind speed cases. Special emphasis is placed on the dynamics variation of the wind turbine system caused by plant nonlinearity with respect to wind speed. The turbine system with the dynamics variation is represented by a linear parameter-varying(LPV) model, which is derived by interpolating linearized models at various operating wind speeds. To achieve control objectives of regulating power capture and minimizing platform motions, both linear quadratic regulator(LQR) GS and LPV GS controller design techniques are explored. The designed controllers are evaluated in simulations with the NREL 5 MW wind turbine model, and compared with the baseline proportional-integral(PI) GS controller and non-GS controllers. The simulation results demonstrate the performance superiority of LQR GS and LPV GS controllers, as well as the performance trade-off between power regulation and platform movement reduction.     

An optimal fuzzy PI controller to capture the maximum power for variable-speed wind turbines

Wind energy conversion systems can work by fixed and variable speed using the power electronic converters. The variable-speed type is more desirable because of its ability to achieve maximum efficiency at all wind speeds. The main operational region for wind turbines according to wind speed is divided into partial load and full load. In the partial-load region, the main goal is to maximize the power captured from the wind. This goal can be achieved by controlling the generator torque such that the optimal tip speed ratio is tracked. Since the wind turbine systems are nonlinear in nature and due to modeling uncertainties, this goal is difficult to be achieved in practice. The proportional-integral (PI) controller, due to its robustness and simplicity, is very often used in practical applications, but finding its optimal gains is a challenging task. In this paper, to cope with nonlinearities and at the same time modeling uncertainties of wind turbines, a PI torque controller is proposed such that its optimal gains are derived via a novel scheme based on particle swarm optimization algorithm and fuzzy logic theory. The proposed method is applied to a 5-MW wind turbine model. The simulation results show the effectiveness of the proposed method in capturing maximum power in the partial-load region while coping well with nonlinearities and uncertainties.     

Intelligent control for large-scale variable speed variable pitch wind turbines

Large-scale wind turbine generator systems have strong nonlinear multivariable characteristics with many uncertain factors and disturbances. Automatic control is crucial for the efficiency and reliability of wind turbines. On the basis of simplified and proper model of variable speed variable pitch wind turbines, the effective wind speed is estimated using extended Kalman filter. Intelligent control schemes proposed in the paper mchde two loops which operate in synchronism with each other. At below-rated wind speed, the inner loop adopts adaptive fuzzy control based on variable universe for generator torque regulation to realize maximum wind energy capture. At above-rated wind speed, a controller based on least square support vector machine is proposed to adjust pitch angle and keep rated output power. The simulation shows the effectiveness of the intelligent control.     

Fault tolerant control of a simulated hydroelectric system

This paper analyses the application of two fault tolerant control schemes to a hydroelectric model developed in the Matlab and Simulink environments. The proposed fault tolerant controllers are exploited for regulating the speed of the Francis turbine included in the hydraulic system. The nonlinear behaviour of the hydraulic turbine and the inelastic water hammer effects are taken into account in order to develop a high-fidelity simulator of this dynamic plant. The first fault tolerant control solution relies on an adaptive control design, which exploits the recursive identification of a linear parametric time-varying model of the monitored system. The second scheme proposed uses the identification of a fuzzy model that is exploited for the reconstruction of the fault affecting the system under diagnosis. In this way, the fault estimation and its accommodation is possible. Note that these strategies, which are both based on identification approaches, are suggested for enhancing the application of the suggested fault tolerant control methodologies. These characteristics of the study represent key issues when on-line implementations are considered for a viable application of the proposed fault tolerant control schemes. The faults considered in this paper affect the electric servomotor used as a governor, the hydraulic turbine speed sensor, and the hydraulic turbine system, and are imposed both separately and simultaneously. Moreover, the complete drop of the rotational speed sensor is also analysed. Monte-Carlo simulations are also used for analysing the most important issues of the proposed schemes in the presence of parameter variations. Moreover, the performances achieved by means of the proposed solutions are compared to those of a standard PID controller already developed for the considered model. Finally, these strategies serve to highlight the potential application of the proposed control strategies to real hydraulic systems.     

变速风力发电机组最大风能追踪与桨距控制

针对变速变桨风力发电机组(Variable Speed Variable Pitch,VSVP)如何在低风速时最大限度捕获风能以及在额定风速以上稳定输出功率进行研究。低风速时在传统风能追踪控制策略的基础上,提出通过改变最优增益系数来追踪最佳风能利用系数的自适应转矩控制策略。在额定风速以上,依据风机空气动力学原理、风轮扫及面内风速风切特性,提出基于桨叶方位角信号的独立变桨距控制策略。该策略通过权系数将统一变化的桨距角转化为3桨叶独立变化的桨距角。以国产某2 MW风力发电机组为验证对象,基于Bladed软件平台对所采用的控制策略进行仿真验证。结果表明,相对传统控制,所提出的控制策略在低风速时能够更好的追踪最大功率点。额定风速以上时,使风力发电机组能够在额定转速下保持稳定的电功率输出。     

风力发电机组的变论域自适应模糊控制

建立了变速变浆距风力发电机组的简化模型。在此基础上，将变论域自适应模糊控制应用到风力发电机组的转速和浆距控制系统中，改善风力发电机组的风能捕获性能。变论域自适应模糊控制器在保持规则形式不变的前提下。论域随着误差的变化而变化。这种控制器不但具有经典模糊控制的优点，如不需要精确的数学模型，产生非线性控制动作，良好的动态性能等．而且具有较高的控制精度。仿真结果证明该方法改善了风力发电机组的控制性能。     

风力发电机组桨距角鲁棒控制器的设计与仿真

在空气动力学原理基础上建立了变浆距风力发电机组非线性数学模型,以此为基础采用基于动态逆的非线性内模控制方法设计了风力发电机组在额定风速以上工作时的桨距角鲁棒控制律,以使输出功率维持在额定值附近。设计是针对风力机的非线性数学模型进行的,克服了基于局域近似线性化模型设计方法的缺点,适应工况点大范围变动的情形,而且对系统参数摄动具有良好的鲁棒性,求解过程相对比较简单。以一台额定功率为300kW的实际风力发电机组为实例进行了对比仿真,结果表明了该方法能够满足控制要求,具有较好的动、静态特性和鲁棒性。     

Optimal gain scheduling controller design of a pitch-controlled VS-WECS using DE optimization algorithm

This paper presents an optimal gain scheduling power controller for a variable-pitch variable-speed wind energy conversion system (VS-WECS). For this purpose a set of linear quadratic Gaussian (LQG) controllers are optimally designed using differential evolution (DE) optimization algorithm. These controllers are then used to form a gain scheduling controller (GSC), aiming to regulate the pitch angle and generator electromagnetic torque, and thus, controlling the VS-WECS output electrical power as well as the shaft speed in the above-rated wind speeds. The designed controller for this multi-input multi-output (MIMO) system also reduces destructive mechanical loads on the rotating parts of the wind turbine, while ensuring fast and accurate regulation of the system's variables within their operational constraints. Simulation results on a VS-WECS subjected to a realistic wind model are provided using MATLAB/SIMULINK, which are compared with those of conventional point design controllers. Results indicate that in addition to being robust against parametric uncertainties, the proposed GSC provides enhanced transient and steady-state performance, as well as reduced mechanical loads in a wide range of above-rated wind speed and turbulence variations.     

基于二阶滑模控制的变速双馈风力发电系统最大功率点跟踪

本文提出一种超螺旋二阶滑模控制方案同时实现双馈变速风力发电系统最大风能捕获和无功功率调节.通过设计两个二阶滑模控制器,实现控制目标,降低机械磨损,提高控制精度,通过调节发电机转子电压,跟踪风机最优转速和转子电流设定值,实现额定风速以下的最大风能捕获和无功功率调节.采用二次型李雅普诺夫函数确定控制参数范围、确保系统有限时间稳定性.1.5 MW风机系统仿真实验验证所提方案有效性.     

具有尾缘襟翼风力机的恒功率反步法控制

尾缘襟翼风力机控制技术在大型风力机领域具有巨大的应用潜力.本文首先基于修正的叶素动量方法建立了具有可变尾缘襟翼的风力机气动模型.针对襟翼风力机的非线性模型,采用反步法设计了非线性控制器,保证系统的控制量和状态变量全局有界,并且风机的输出功率可以收敛到额定功率的一个小邻域内.此外,控制器设计过程中没有将实时风速信息纳入反馈系统,因而降低了工程实施的难度.最后针对12 m/s～15 m/s的阶跃风、基于四分量模型模拟的风载扰动、执行机构受到外部扰动以及总转动惯量具有10%不确定性的工况进行了仿真,仿真结果表明所设计的控制器能有效地稳定风力发电系统的输出功率,控制系统具有较强的鲁棒性.     

Asymptotic Tracking Control for Wind Turbines in Variable Speed Mode

This paper presents a variable speed control strategy for wind turbines in order to capture maximum wind power. Wind turbines are modeled as a two-mass drive-train system with generator torque control. Based on the obtained wind turbine model, variable speed control schemes are developed. Nonlinear tracking controllers are designed to achieve asymptotic tracking for a prescribed rotor speed reference signal so as to yield maximum wind power capture. Due to the difficulty of torsional angle measurement, an observer-based control scheme that uses only rotor speed information is further developed for global asymptotic output tracking. The effectiveness of the proposed control methods is illustrated by simulation results.      

大型海上风力发电高塔系统一体化分析建模研究

大型海上风力发电高塔系统的精细化建模与整体可靠性设计对保障风能资源开发的安全性与经济性日益重要.本文结合柔体动力学与有限元建模,考虑气动耦合效应、桩土相互作用、塔体前后运动控制和非线性转矩控制,建立了大型海上风力发电高塔系统一体化分析模型(Sto DRAOWT模型).与国际上通用的风机分析软件分析结果对比表明,本文建立的Sto DRAOWT模型分析结果可信,建模更为全面合理,计算效率更高.在此基础上,实现了风浪联合作用下海上风力发电高塔整体系统的动力响应分析,为大型海上风力发电高塔系统的随机响应分析与可靠性设计奠定了基础.     

Feedforward Control for Wind Turbine Load Reduction with Pseudo-LIDAR Measurement

A gain-scheduled feedforward controller, based on pseudo-LIDAR (light detection and ranging) wind speed measurement, is designed to augment the baseline feedback controller for wind turbine’s load reduction in above rated operation. The pseudo-LIDAR measurement data are generated from a commercial software – Bladed using a designed sampling strategy. The nonlinear wind turbine model has been simplified and linearised at a set of equilibrium operating points. The feedforward controller is firstly developed based on a linearised model at an above rated wind speed, and then expanded to the full above rated operational envelope by employing gain scheduling strategy. The combined feedforward and baseline feedback control is simulated on a 5 MW industrial wind turbine model. Simulation studies demonstrate that the proposed control strategy can improve the rotor and tower load reduction performance for large wind turbines.