4 WindTurbineControl

Short Course on Wind Energy
- Wind Turbine Control -
POLItecnico
di MI lano
Carlo
Carlo L.
L. Bottasso
Bottasso
Politecnico
Politecnico di
di Milano
Milano
November
November 2011
2011
Control System Architecture

Wind
Wind farm
farm
supervisor
supervisor
Sensors
Sensors
Wind Turbine Control
Positions,
Positions,speeds,
speeds,
accelerations,
accelerations,stresses,
stresses,
strains,
strains,temperature,
temperature,
electrical
electrical&&fluid
fluid
characteristics,
characteristics,etc.
etc.
Wind
turbine
Supervisor
Supervisor
Observers
Observers
Choice
Choiceof
ofoperating
operatingcondition:
condition:
Start
Startup
up
Power
Powerproduction
production
Emergency
shut
Emergencyshutshutshut--down
down
Wind,
Wind,tower
tower&&blades
blades
Communication
Communicationand
andreporting
reporting
POLITECNICO di MILANO
Actuators
Actuators
Actuator
Actuatorcontrol
control
system
system
Active
Active control
control
system
system
Control
Controlstrategy
strategy
POLIPOLI-Wind Research Lab
Supervisory Control System

Main tasks:
tasks:
Main input data:

data:
Operational managing and monitoring
Wind speed
Diagnostics, safety
Rotor speed
Communication, reporting and data logging
Blade pitch
Electrical power
Temperatures in critical area
Operational states:
states:
Idling
Accelerations
but also
Start Up
Normal power production
Stresses, strains (blades, tower)
Normal shut down
Position, speed (yaw, blade, actuators, teetering

angle, rotor tilt, )
Emergency shut down
Fluid properties and levels

Electrical systems (voltages, grid characteristics, )
Icing conditions, humidity, lighting,
Supervisory Control System

Representative operational state monitoring logic:
Idling
Idling
V
cut-in
V>
>V
V cutcutcut-in
Start
Start up
up
RPM
cut-in
RPM >
>
cutcutcut-in
Power
Power
production
production
Failures
Failures
accel
Overspeed
Overspeed &
& high
high rotor
rotor accel.
accel.
accel..
Emergency
Emergency
shut
shut down
down
Vibrations
Vibrations
Normal
Normal shut
shut down
down
V
cut-off
V>
>V
V cutcutcut-off
V
cut-in
V<
<V
V cutcutcut-in
POLItecnico
di MI lano
Regulation Strategies
Basic wind turbine regulation strategies and power curves:

curves:
Constant TSR strategy
Constant rotor speed strategy
Below and above rated speed control

Variable speed pitchpitch-torque regulated wind turbine
Stall and yaw/tilt control
P
CP =
1/2AV 3
Power coefficient:
Tip speed ratio (TSR): =
CP = CP (, , Re, M )
R
V
0.50
CP
0.45
0.40
= const.
0.35
CP
0.30
0.25
0.20
0.15
0.10
0.05
0.00
0
10
12
14
16
18
20
Constant rotor speed:
speed: = const. = Direct grid connection:
0.50
0.45
CP
R
V =
Generator provides whatever torque required

to operate at or near given angular speed
CP
0.40
0.50
0.45
0.40
0.35
0.30
0.35
0.25
0.20
CP
0.15
0.30
0.10
0.05
0.00
0
10
12
14
16
18
20
max
0.25
0.20
= const.
0.15
0.10
0.05
V = R/
0.00
Vaero cut in = R/max < Vcut in

Constant TSR:
TSR: = const. =
Indirect grid connection:
V
=
R
V
Vr (const. )
Through power electronic converter

Allows for rapid control of generator torque
1
AV 3 CP
2
P =
=
Constant TSR strategy
V, CP (const. ) CP (const. )
Constant rotor
speed strategy
= const. =
Power-wind speed curve:
curve:
Constant TSR strategy (cubic)
Pr
Constant rotor speed strategy
=
Power deficit for constant
speed wrt constant TSR
= const.
Vaero cut in (const. )
Vaero cut in (const. )

Vr (const. )
Vr (const. )
=
Constant rotor speed strategy 2 vs.

strategy 1:
1:
Higher cut in speed
Lower wind speed to reach rated power
Smaller power deficit
V
P
1 2
= 1
V
= 2
Annual energy yield: E = Y
Vout
P (V )fw dV
Vin
= 1
Weibull distribution
fw
fw
V
Constant rotor speed strategy 2

vs. strategy 1:
= 2
= 1
Smaller power deficit wrt to

constant TSR, but at improbable
wind speeds
Higher energy yield
= 2
V
Control above rated speed:
speed: V > Vr
CP
0.50
CP
0.45
0.40
1
P = Pr = AV 3 CP (, ) = const.
2
= = const.
P
T =
= const.
Constant power constant rotor speed curve

(cubic)
0.35
0.30
CP =
CP
0.25
3
R
=
V
0.20
0.15
0.10
0.05
0.00
0
10
12
14
16
18
20
Below rated speed:
torque control
Variable-speed pitch/torque
regulated wind turbine:
turbine:
Above rated speed:

pitch control
0.50
CP
0.45
0.40
0.35
0.30
0.25
Vcut out
Region 2 - below rated Region 3 - above rated

speed: constant power
speed: constant TSR
strategy
strategy
0.00
0
10
12
14
16
18
Often, smoothing for milder

transition between regions
No torque to promote
rotor acceleration
= V /R
Vr
0.05
Vr
Region 1
T = 1/2ARV 2 CP /
Vr
0.10
T = Pr /
Vcut in
0.15
Vr
Pr
=
0.20
20
Below rated speed: Transition
region
torque control
regulated wind turbine with tip
speed constraint:
constraint:
Above rated speed:

pitch control
0.50
CP
0.45
0.40
0.35
0.30
0.25
Pr
=
=
Vcut in V21/2 Vr
Region 3 - above rated

Region 2 speed: constant power
below rated
strategy
speed:
constant TSR
strategy
Region 2 - transition
region: constant rotor
speed strategy
0.10
V21/2 Vr
0.00
0
10
12
T = Pr /max
V21/2 Vr
rotor acceleration
= V /R
max =
V21/2 Vr
0.05
T = 1/2ARV 2 CP /
Vcut out
0.15
Region 1
vtipmax
V
0.20
vtipmax
R
14
16
18
20
speed constraint:
constraint: one possible
regulation strategy
Region 2:
(V ) = V /R
v
(V ) tipRmax = max
CP = CP
=
Region 2 :
(V ) =
=
max R
V
vtipmax
R
vtipm ax
V
= max
CP (V ) = max CP ((V ), )
(V ) = arg max CP ((V ), )
Region 2 :
Region 2
speed constraint:
constraint: one possible
regulation strategy
(V ) =
=
max R
V
vtipmax
R
vtipm ax
V
= max
CP (V ) = max CP ((V ), )
(V ) = arg max CP ((V ), )
Variable-speed pitch/torque regulated wind turbine with and without

tip speed constraint:
constraint:

constraint:

constraint:
Variable-speed passive-stall/torque
turbine:
Pr
Stall region, high
dispersion
=
Below rated speed:

torque control
Vr
Below rated speed:
constant TSR strategy
Above rated speed:

(roughly) constant
power strategy
Above rated speed:

torquetorque-stall control
T = Pr /
Vr
V
= V /R
Vr
Vr
Rotor disk
V
ConstantConstant-speed passivepassive-regulation wind turbine:
Below rated speed: Above rated speed:

yaw or tilt rotor to
constant rotor
reduce effective wind
speed strategy
Below rated speed: Above rated speed:

(roughly) constant
constant rotor
power strategy
speed strategy
P
V cos
Pr
Stall region, high

dispersion
Stall regulation
=
=
=
Vr
Pr
Vr
Yaw/tilt outout-ofof-thethe-wind
regulation
Control Strategies
Further wind turbine control goals:
goals:
Fatigue damage reduction in turbulent wind
Gust load alleviation
Disturbance rejection
Resonance avoidance
Actuator duty cycle reduction
Periodic disturbance reduction (gravity, wind shear, tower shadow,
shadow, )
Usually, these goals should be achieved together with the basic

regulation strategies deriving from the power curves, i.e.
Region 2: maximize energy capture
Region 3: limit output power to rated value
Yaw Control
Orient the rotor in line with the wind field to increase power
Note: some small wind turbine will also yaw out of the wind to reduce
reduce loads in high winds
Passive or free yaw, used in small wind turbines:
Tail fin
Downwind rotor
Active yaw:
- If V < V cut in = no action
- If V > V cut in:
- Compute yaw error averaging over window (typically tens of sec.s)
sec.s) to reduce duty cycle
- Region 2 = realign if yaw error > yaw threshold2 (typically ~15 deg)
- Region 3 = realign if yaw error > yaw threshold3 (typically ~8 deg)
- Realign at low yaw rate to reduce gyroscopic loads
- If yaw error < small threshold (typically a fraction of a deg), engage yaw brake to eliminate
backlash between drive pinion and bull gear
Short Course on Wind Energy

- Wind Turbine Control -
POLItecnico
di MIlano
Carlo L. Bottasso
Politecnico di Milano
November 2011
POLItecnico
di MIlano
PID Controller
Contents
PID controllers for variable-speed pitch/torque regulated wind turbine:
PID on pitch + LUT on torque
PID on pitch + LUT on torque with tip speed constraint
PID on pitch + PI on torque with tip speed constraint
Gain scheduling
POLI-Wind Research Lab
Contents
Gain scheduling
PID Controller
Below rated speed:

torque control
Above rated speed:

pitch control
0,50
0,45
0,40
0,35
0,30
0,25
0,20
0,15
0,10
0,05
0,00
2
10
12
14
16
18
Often, smoothing for milder

transition between regions
rotor acceleration
Region 1
Region II - below rated Region III - above rated

speed: constant TSR
strategy
strategy
20
PID Controller
Torque and pitch demands generated independently in the two regions:
Below rated speed:
torque control
Above rated speed:

pitch control
Commanded collective pitch in region III:

PI or a PID acting on measured rotor or
generator speed
Commanded electrical torque in region II:

speed-torque look-up table
Region II - below rated Region III - above rated

speed: constant TSR
strategy
strategy
PID Controller
Region III - above rated speed:
constant power (and constant
rotor speed) strategy
Torque demand:
Should be reduced by mechanical

losses, which may be functions of rotor
speed
Is a function of air density (adjust
based on altitude and temperature)
Is reduced in region IV (over-speed
region) to ensure constant power
output and limit power peaks:
Region II - below rated speed:

Region IV over-speed
region: constant power
PID Controller
Alternative strategy in region IV (overspeed): constant commanded electrical

torque
Used to increase stability for slow pitch

actuation
Region II - below rated speed:

PID Controller
PID control strategy for collective pitch input in region III:
Proportional, integral and derivative gains:
Actual (filtered) rotor or generator speed:
Desired (i.e. rated) rotor or generator speed:
Remarks:
Rotor (or generator) speed is filtered to remove sensor noise and fast
fluctuation due to turbulence
In region II (below rated), when the speed error is negative, the integral term
may grow indefinitely (because demanded pitch is limited by fine pitch limit):
include anti-windup procedure
PID Controller
Summary. Speed-torque look-up table and PID control for collective

blade pitch:
Remark: control acts only on rotor (or generator) speed feedback, no

wind speed measure is necessary to regulate the wind turbine
(wind speed used only by supervisor and possibly for gain scheduling)
Contents
Gain scheduling
PID Controller
speed constraint:

region
torque control
Above rated speed:

pitch control
0,50
0,45
0,40
0,35
0,30
0,25
0,20
0,15
0,10
0,05
0,00
2
10
rotor acceleration
Region 1
Region III - above rated

Region II speed: constant power
below rated
speed:
strategy
constant TSR
strategy
Region II - transition
speed strategy
12
14
16
18
20
PID Controller
region
torque control
Above rated speed:

pitch control
Commanded collective pitch in regions

II and III: PI or PID acting on measured
rotor or generator speed
Commanded electrical torque in regions

II and II : speed-torque look-up table
Region III - above rated

Region II speed: constant power
below rated
speed:
strategy
constant TSR
strategy
Region II - transition
speed strategy
PID Controller
Remark: torque-speed ramp in region II
guarantees one-to-one relationship
between torque and rotor speed (suboptimal choice)

Torque demand:
Region II transition region:

constant rotor speed
strategy
Region II - below
rated speed:
constant TSR
strategy
Should be reduced by mechanical

losses, which may be functions of rotor
speed
Is a function of air density (adjust
based on altitude and temperature)
Is reduced in region IV (over-speed
region) to ensure constant power
output and limit power peaks:
(or is kept constant to increase

stability, see earlier in these notes)
Contents
Gain scheduling
PID Controller
PI controller tracks vertical torque-speed ramp trajectory (segment GH):
Proportional and integral gains:
Target rotor speed:
Remark:
Maximum Cp curve (segment BG) is
used as lower limit, hence integral
term can grow indefinitely: use antiwindup
PID Controller
Same PI controller tracks cut-in torque-speed ramp (segment AB):
Proportional and integral gains:
Target rotor speed:
Remarks:
Maximum Cp curve (segment BG) is
used as upper limit, hence integral
term can grow indefinitely: use
anti-windup
Transition between the two set
points is done when the rotor speed
crosses the mid-point between the
two values
Transition is smooth since
controller is operating on max Cp
curve limit
PID Controller
Resonance avoidance:
Motivation: avoid operating at the intersection
of nP harmonics and tower (or blade/rotor)
natural frequencies (vibrations, fatigue)
Solution:
Speed range is divided into two
(or more) regions above and
below resonant frequency(-ies)
Each region is bounded by a
vertical speed-torque ramp
(segments CD and EF)
PI torque controller tracks vertical
ramps
G
F
D
E
C
B
A
Contents
Gain scheduling
PID Controller
Gains can be scheduled in terms of mean wind speed
At the current mean wind speed, current gains are obtained by linear
interpolation of the stored ones
POLItecnico
di MIlano
MIMO LQR Controller
Control Laws
Multi-Input Multi-Output (MIMO) Linear Quadratic Regulator (LQR)
for wind turbine design:
Based on reduced model (used for self-adjusting controller

during design, no need for retuning when design changes)
Straightforward handling of transition between regions II and III,
and possible region II 1/2
Reduced Model
Non-linear collective-only reduced model:
Equations:
Drive -train shaft dynamics
Elastic tower fore-aft motion
Blade pitch actuator dynamics
Electrical generator dynamics
States:
Inputs:
Reduced Model
Equations of motion:
Tip speed ratio:

Wind:
(mean wind + turbulence)
Reduced Model
Rotor force and moment coefficients:
computed off-line with Cp-Lambda

aero-servo-elastic model, averaging periodic response over one rotor rev
Stored in look-up tables
Remark:
Dependence of
and
on mean wind
accounts for deformability of tower and blades under high winds
Reduced Model
Model linearization:
steady trimmed condition
Possible approaches:
Linearization trim points
Analytical
Automated (e.g. Maple, or directly from software using Automatic
Differentiation tools like ADOL-C, ADIC, etc.)
Numerical, by finite differences
MIMO LQR
Wind-scheduled MIMO LQR:
Reduced model in compact form:
where
Wind parameterized linear model:

where
Remarks:
Model linearized about current mean wind estimate
Wind not treated as linear disturbance (as commonly done)
Linear Parameter Varying control (LPV)
MIMO LQR
Regulation cost:
where
in regions II and III:
MIMO formulation: track
MIMO LQR
Optimization problem: closed form solution
Constrained optimization
with constraint
Lagrange multipliers
Steady state (
) algebraic Riccati equation
where
and
Control law in the form
MIMO LQR
Remarks:
Wind speed and wind turbine states are directly measured or
observed (see observers later on)
Wind speed is filtered to remove turbulent fluctuations and
measurement/observation noise
Output Feedback Control

Often states
are not fully available from measurements/observers
Introduce output/measurement equation:
Example:
Suppose tower states are not available
Not available
State
then
Measurements
Output Feedback Control
Sub-Optimal control problem

Find
minimizing
No closed form solution (unlike full-state feedback)

Solved by numerical optimization methods
Moerder and Calise iterative method: B.L. Stevens, F.L. Lewis, Aircraft
Control and Simulation, Wiley-Interscience, pages 403-418 (1st Ed.)
MIMO LQR with Integral State

Accurate rotor speed tracking (power output closer to design set-point)
Rotor speed tracking inaccuracies due to:
Inaccuracies in the linearized model (model mismatch)
Non-optimal weight choice
Augmented state vector:

Border state-space model matrices to get augmented matrices:
New state equation

for
Wind
Gain and set-point selector
Rotor speed reference
Wind
Torque demanded
Integral state
Pitch and torque LQR controller
Pitch demanded
Rotor speed
Rotor speed, tower states, actuators states

Example Gusty Wind
Closer to
set-point
23 m/sec EOG 1yr
15 m/sec EOG 1yr

Set-point:
=15 rpm

Example Category A Turbulent Wind
Closer to
set-point
Reduced
oscillations
POLItecnico
di MIlano
Observers
Wind and Tower Estimators
Tower
accelerometers
and strain gages
Tower state
estimator
Wind state
estimator
LQR
controller
Other measured
WT states and
inputs
Modal Description
Modal description of blade motion one assumed mode
Function of
position
Function of
time
Time derivative of displacement
Provided by
accelerometer
Spatial derivative of displacement
Provided by
strain gauge
Tower State Observer

Kalman modal-based tower observer:
Acceleration:
Accelerometer
Curvature:
Unknown modal amplitude:
Modal function (strain/accelerometer):
Process & measurement noise:
Strain gage
Remarks:
Fore-aft and side-side identification
Multiple modal ampl. (sensor number and position for observability)
Formulation applicable also to identification of flap-lag blade states
Modal Description
Modal description of blade motion more than one assumed modes
First mode contribution
Second mode contribution
Total displacement (first and second modes)

Matrix form
Unknowns

Modal description of blade motion two assumed modes
Accelerations:
Provided by
accelerometers
Unknowns
Curvatures:
Provided by
strain gages
Unknowns
Kalman filter equations in matrix form any number of modes
Strain gages
Accelerometers

State space form:
with
Optimal Kalman state estimate:

Filter gain matrix
Propagated states and outputs based on accelerometric reading:
Curvature reading:
Tower tip velocity estimation:
Filter warm-up
Tower and Blade State Observer

Kalman modal-based tower and blade
state observer:
Compute or measure modal bases for
blades and tower
Accelerometers
Integrate tower kinematic equations

from accelerations
Correct with tower strain gage curvature
readings
Strain gages
Integrate blade kinematic equations

from blade and tower accelerations
Correct with blade strain gage curvature
readings
Wind Observer
Anemometer:
Cup, but also laser, ultrasonic, etc.
Measurements highly inaccurate because of
Rotor wake
Wake turbulence
Nacelle disturbance
Sufficient accuracy for supervision tasks and yaw alignment
Not sufficient for sophisticated control law implementation

Need ways to reconstruct wind blowing on rotor from reliable
measurements (pitch setting, rotor speed, etc.)
Wind Observer
Extended Kalman wind observer:
Wind equation:
Output measurement torque-balance equation:
Non-linear state-space form:
with
Extended Kalman estimate
with measured output
Mean wind
to enforce torque-balance equation
reconstructed with moving average on 10 sec window
Wind Observer
Field testing on 1.2 MW wind turbine:
Anemometer
Observer
Wind Observer
Simple mean hub wind reconstruction from torque balance equation
More in general:
The rotor system is a sensor which responds to temporal as well as
spatial wind variations
Model-based interpretation of response can be used for reconstructing
wind states (e.g. vertical and horizontal wind shear parameters, vertical
and horizontal wind components) for improved rotor control
POLItecnico
di MIlano
Feed-Forward Control
Based on the knowledge of the incoming wind ahead of the plant:
Single Beam LiDAR: hub height wind speed
LiDAR with Moving Radar Head: wind distribution over rotor disk area
Possible control architectures able to exploit
hub height wind data:
Hub-height
speed samples
Non-Homogenous LQR controller

Receding Horizon Control
LiDAR prediction span
Working hypothesis: frozen wind time history
Linear State-Space Model with

Exogenous Inputs
Model linearization with exogenous input:
non-linear reduced model
Exogenous input
Remarks:
In principle multiple wind states in exogenous input
(e.g.: hub
speed, vertical and lateral shear, vertical and lateral speed, )

Assume
Matrix
, i.e. only hub-height wind speed from LiDAR

computed by numerical or analytical
differentiation
Non-Homogenous LQR
Optimum Problem
Performance index to be minimized:
Constraint: system dynamics

Features:
Usual LQR cost function

Input solution minimizes cost on an infinite horizon
Lagrange multipliers to account for dynamic equation constraint
Steady state hypothesis: Algebraic Riccati Equation (ARE), closed

form solution
Non-Homogenous LQR
Optimal Solution
General solution:
Homogenous LQR
solution
(usual)
Feed-forward solution
based on
where:
solves steady-state ARE
Two control components:
Non-Homogenous LQR
Prediction Window
Non-Homogenous control contributor:
LiDAR measurements available on a finite prediction window

Piecewise constant wind hypothesis:
data from LiDAR approximated with
a constant value on a time span
Simplified feed-forward control contributor:
Piecewise
constant
Piecewise constant
on each
Averaged on
LiDAR prediction span
Receding Horizon Control (RHC)
Cost function minimization on a finite horizon
Subject to:
System dynamics linearized system (as for N-H LQR)
equality constraint:
Linear inequality constraints:
No closed form solution: numerical optimization

Receding Horizon Control (RHC)

Discretization of control window
Problem transcription on the discretized time grid:

Cost function
System dynamics
Linear inequality constraint
Efficient solution by Quadratic Programming (QP) algorithms:

CVXGEN Code Generation For Convex Optimization by J. Mattingley,
S. Boyd et alii (www.cvxgen.com)
Example EOG 1yr 21 m/sec
Remarks:
More sophisticated RHC gives best performance

Simpler N-H LQR gives good performance
Reduced
peak values
Reduced
peak values
Reduced
p-p oscillation
Reduced speed oscillations: emergency

shut-downs are less likely
Reduced peak loads: lower load

envelope (if gust loads are dominant)
Example EOG 1yr 21 m/sec
Feed-Forward vs. LQR (or PID):

Faster (anticipated) response in pitch and torque
Faster and larger control movements (compatible with physical limits)
Faster
response
Collective Pitch
POLItecnico
di MIlano
Individual Blade Pitch Control
Introduction and Motivation

Wind farm
supervisor
Sensors
Positions, speeds,
accelerations, stresses,
strains, temperature,
electrical & fluid
characteristics, etc.
Supervisor
Choice of operating
condition:
Start up
Power production
Emergency shut-down
Communication and reporting
Wind
turbine
Actuators
Actuator control
system
Observers
Wind, tower & blades
Active control
system
Control strategy
Multiple contrasting goals:

Regulating the machine at different set points depending on
wind conditions:
Regions II: maximize energy capture
Region III: limit power to rated value
Region II1/2: handle transition between II and III
Reacting to gusts (load reduction, over-speed/shut-down, )
Reacting to wind turbulence (reduction of fatigue, overspeed/shut-down, )
Keeping actuator duty-cycles within admissible limits
Handling transients: run-up, normal and emergency shut-down
procedures
Increase damping, resonance avoidance,
Remarks:
Different physical processes at different time and
length scales
Difficult to achieve good performance with single
controller
It might be important to exploit existing proven
technology (typically, collective blade pitch trimmers)
Solution: multi-layer controller, each layer targeting different
control goals
Simplest Multi-Layer Control Architecture
Shaft/tower loads
Trimming layer
Blade root loads
Response
Bossanyi IPC
Individual Pitch Control
Bossanyi IPC
Basic concepts:
Blade loads translated into fixed frame loads (nodding/yawing)
by Colemans transform
Blade-specific
loads
Fixed frame
loads
Nodding/yawing loads controlled by two decoupled controllers

(e.g. PID)
Individual pitch control inputs by inverse Colemans transform
Bossanyi-IPC Control Scheme

Blade 1 pitch demand
Torque
demand
Collective pitch demand
Collective pitch
and torque
trimmer
q-load PI controller
IPC pitch demands
Inverse Coleman
transform
d-load PI controller
Out-of-plane blade
root bending
moments
Rotor speed,
actuator states,
etc.
Coleman
transform
q-axis moment
d-axis moment
Bossanyi-IPC
Performance Example
Load Reduction - 3.0 MW Turbine

Constant wind, shear power law exponent 0.2
- Reduction of load mean value
- Reduction of 3P total bending moment on shaft cross-section
- Some spill-over effect at higher frequencies
Multi-Frequency IPC
Blade load model:
Blade loads
where
Independent
from pitch
and
disturbance
are
Due to
pitch
Due to
disturbances
(wind shear,
turbulence,
weight, )
in size
Multi-Frequency Colemans Direct and Inverse Transform:
Desired multiples of rev
Multi-Frequency IPC
Blade load multiple transformation:
Blade moments
K-th transformation
(d-q)K frame moments
Fixed frame (usual Coleman transform)
Frame rotating at W
Frame rotating at 2W
Equivalent pitch multiple inverse transform:

(d-q)K frame pitch inputs
K-th inverse transform
Blade pitch due to K-th

transformed load
Multi-Frequency IPC
Transformation of the blade load model equation:
null for
any K
Properties of Coleman transforms:

(see later on)
Filtering effect on the disturbances:

all harmonics
constant
value
oscillating value
(triple multiples
of rev)
Multi-Layer Control of Wind Turbines
Multi-Frequency IPC
Colemans transformation properties:
For triple multiples of the revolution frequency (3P, 6P,)
where
High frequency disturbance to
Higher frequency
oscillating value
Property
is valid otherwise
Multi-Frequency IPC
Transformed blade load model
K-th harmonic promoted to constant (0P):
Filter out
After filtering out higher frequencies:
Integral control to lower the constant (in the K-th reference):
Multi-Frequency IPC
Harmonic effects of Coleman transform

(see T.G. van Engelen, Design model and load reduction assessment for multirotational mode individual pitch control (higher harmonics control), EWEC 2006)
Multi-Frequency IPC
Closed-loop system (in K-th rotated reference):
Time differentiation:
Same for all K-th
transformations
Pitch input (contributions from rotated systems):
Multiple Frequency IPC

Example: Constant Wind
Pitch activity - 3.0 MW Turbine
B-IPC: control activity basically at 1P
MF-IPC: control activity also at 2P (but control band potentially broader)
1P
7P
15 m/sec
Control rate constraint: 7 deg/sec for both controllers

Blade Total Moment - 3.0 MW Turbine
B-IPC: reduction of 1P total bending moment at blade root
MF-IPC: Similar to B-IPC on1P, positively affects also 2P
2P
15 m/sec

Shaft total bending moment - 3.0 MW Turbine
B-IPC:
Integral action reduces mean shaft load
Spill-over at 6 and 9P
MF-IPC: more effective on constant 1P and 2P, still some spill-over effect at higher freqs.
3P
15 m/sec

Example: Turbulence
3.0 MW Turbine
15m/s mean wind
Better
performance
Collective trimmer + B-IPC(1P)
Collective trimmer + MF-IPC(1P/2P)
Multi-Layer Control Architecture
Shaft/tower loads
Trimming layer
Blade root loads
Response
Deterministic load
reduction
Non-deterministic load
reduction
Inner Loop: Trimming Layer
Trimming layer
Deterministic load reduction
reduction
Shaft/tower loads
Main target: regulation

to set point and
alleviation of gust loads
Architecture: collective
blade pitch and torque
control
Control law: PID , LQR (state or output feedback),
constant pitch in region II, constant torque in region III
Blade root loads
Response
Middle Loop
Trimming layer
reduction
Shaft/tower loads
Main target: reduction of

deterministic (periodic)
loads on blades or
shaft/tower (mainly due
to blade weight and
non-uniformity of spatial
distribution of wind over
rotor disk)
Architecture: HHC individual pitch controller, based on:
- Blade loads: decentralized (individual blade pitch)
- Shaft or tower loads: centralized (cyclic pitch)
Control law: optimal controller, based on a quadratic cost
function of loads and pitch activity (possibly adaptive if
on-line identification)
Blade root loads
Response
HHC Control
Two main macro-steps:

Model identification:
Excitement with proper pitch inputs
Demodulation of inputs (pitch) and outputs (loads)
Least-square estimation of model
Control law calculation:
Demodulation of inputs/outputs
Optimal gain calculation
Update of control input
HHC Control
Signal
sampled at steps
over
rotor revs
Demodulation at azimuth
(here, every quarter of a revolution)
where
Harmonic
amplitudes
Harmonic
bases
Vector of harmonic bases - function of azimuth
Vector of harmonic amplitudes over the -th demodulation window

demodulation
window
Harmonic amplitudes computed by projection based on azimuth
HHC Control
Identification of linear parameter varying (wind scheduled) model
Model relating input and output harmonics
where
Excitation by prescribed pitch inputs:
HHC Control
Collect amplitude vectors for each revolution into matrices
Demodulated signal
amplitudes
Demodulated pitch
amplitudes
Model error matrix:
Compute model
error matrix
by minimization of Frobenius norm of
HHC Control
Optimal control based on quadratic cost
Minimization of cost function:
Model at current wind speed V by linear interpolation from stored

wind-scheduled matrices
Updating of HHC pitch amplitudes with damping :

Previous control
frame
Pitch amplitude
update
HHC Control
Periodic trimmed condition in non-turbulent
wind: all blades have same motion and loads
Fore-aft tower force:

Rotating frame: complex Fourier series
expansion of blade shear
Non-rotating frame: total fore-aft force on

tower
Only pB/rev harmonics are transmitted to the tower

Same results also for rotor torque
HHC Control
Side-side tower force:

Rotating frame: complex Fourier
series expansion of in-plane blade
shear and axial force
Non-rotating frame: total side force
pB/rev harmonics caused by rotating pB1/rev harmonics

Same result for vertical force, shaft bending moments
HHC Control
- Decentralized implementation:
p/rev blade input harmonics used for targeting p/rev blade loads
Example: 1/2/3P pitch inputs to reduce 1/2/3P blade moments
- Centralized implementation:
pB1/rev blade input harmonics used for targeting pB/rev
shaft/tower loads
Example: 2/4P pitch inputs to reduce 3P shaft moments
Outer Loop
Main target: nondeterministic loads,

caused by fast temporal
and small spatial scales
Architecture:
- Blade loads: decentralized (individual blade pitch)
- Shaft or tower loads: centralized (cyclic pitch), formulation
based on Colemans transform
Control law: decentralized PD (not covered here), centralized PI
Shaft/tower loads
Trimming layer
Blade root loads
Response
reduction
Centralized Multi-Layer Control Scheme

Collective pitch demand
Collective pitch
and torque
trimmer
Blade 1 HHC
pitch
demand
Torque
demand
HHC pitch
demands
Phase shift
Pitch
modulation
Optimal
control
q-load PI controller
IPC pitch demands
Inverse Coleman
transform
d-load PI controller
Out-of-plane blade
root bending
moments
Rotor speed,
actuator states,
etc.
Coleman
transform
q-load
demodulation
d-load
demodulation
q-axis moment
d-axis moment
HHC Model Identification
3 MW WTG
Non-dimensional strain gage measurement (solid line) and estimated measurement
(dashed line) at blade root, constant 15 m/s wind
Good accordance between real and estimated signals

Constant Hub Wind Speed Pitch Activity

2.5 MW WTG
B-IPC: control activity mainly at 1 and 4P frequency
HHC: control activity also at higher frequencies (up to 7P by design)
1P
7P
15 m/sec
Control rate constraint: 7 deg/sec for both controllers
Constant Hub Wind Speed

Performance on Shaft Total Moment
2.5 MW WTG
B-IPC:
- Integral action drastically reduces mean shaft load
- Spill-over at 6 and 9P
HHC: wipes out 3P and also effective at 3 and 9P
3P
15 m/sec
Constant Hub Wind Speed

Other Performance Measures
2.5 MW WTG
Good reduction of 1P out of plane bending moment at blade root
Power output is almost unaffected
1P
15 m/sec
B-IPC and Multi-Layer Results

Category A Turbulence
2.5 MW WTG
21m/s mean wind
Good performance
Collective trimmer + B-IPC
Better
performance
Collective trimmer + centralized

HHC + B-IPC
Centralized/Decentralized Comparison
Category A Turbulence
2.5 MW WTG
21m/s mean wind
Best performance
on shaft loads
Centralized Multi-Layer
Control
Best
performance
on blade loads
Decentralized Multi-Layer
Control

4 WindTurbineControl

Transféré par

Informations du document

Titre original

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

4 WindTurbineControl

Transféré par

Droits d'auteur :

Formats disponibles

Short Course on Wind Energy

- Wind Turbine Control -

Control System Architecture

Wind Turbine Control

POLIPOLI-Wind Research Lab

Supervisory Control System

Main input data:

Operational managing and monitoring

Communication, reporting and data logging

Wind Turbine Control

Stresses, strains (blades, tower)

Normal shut down

Position, speed (yaw, blade, actuators, teetering

Emergency shut down

Fluid properties and levels

POLIPOLI-Wind Research Lab

Supervisory Control System

Wind Turbine Control

POLIPOLI-Wind Research Lab

Basic wind turbine regulation strategies and power curves:

Wind Turbine Control

Below and above rated speed control

POLIPOLI-Wind Research Lab

Tip speed ratio (TSR): =

Wind Turbine Control

POLIPOLI-Wind Research Lab

Generator provides whatever torque required

Wind Turbine Control

Vaero cut in = R/max < Vcut in

POLIPOLI-Wind Research Lab

Through power electronic converter

Wind Turbine Control

POLIPOLI-Wind Research Lab

Constant TSR strategy (cubic)

Wind Turbine Control

Vaero cut in (const. )

POLIPOLI-Wind Research Lab

Constant rotor speed strategy 2 vs.

Wind Turbine Control

Wind Turbine Control

Constant rotor speed strategy 2

Smaller power deficit wrt to

POLIPOLI-Wind Research Lab

Constant power constant rotor speed curve

Wind Turbine Control

POLIPOLI-Wind Research Lab

Above rated speed:

Region 2 - below rated Region 3 - above rated

Often, smoothing for milder

Wind Turbine Control

POLIPOLI-Wind Research Lab

Above rated speed:

Region 3 - above rated

Wind Turbine Control

POLIPOLI-Wind Research Lab

POLIPOLI-Wind Research Lab

Wind Turbine Control

POLIPOLI-Wind Research Lab

Wind Turbine Control

Variable-speed pitch/torque regulated wind turbine with and without

POLIPOLI-Wind Research Lab

Wind Turbine Control

Variable-speed pitch/torque regulated wind turbine with and without