GH BLADEDS LINEAR MODELS BASED H-INFINITY

CONTROL FOR OFFSHORE WIND TURBINE

PO.
127

Asier Daz de Corcuera*, Aron Pujana-Arrese*, Said Noudine**, Haritza Camblong**, Joseba Landaluze*

*IKERLAN-IK4 Research Centre

**University of the Basque Country - ESTIA Research Centre
Design the H controller of Upwind Model

Abstract

Two H mixed sentivity problem. One

for each controller.

This paper shows a strategy to design a multivariable and multiobjective

controller based on the H norm reduction applied to a non-linear wind
turbine. The wind turbine model has been developed in GH Bladed and it is
based on a 5 MW wind turbine Upwind European project. The designed
controller works in the Above Rated power production zone and carries out a
generator speed control and a load reduction on the drive train and the tower. In
order to do this, two robust H MISO (Multivariable Input Simple Output)
controllers have been developed. These controllers generate pitch and torque
set-point values to achieve the imposed control objectives. The linear models
obtained in GH Bladed and the correctly defined weight functions are used to
make the controller synthesis, where are included some notch filters in the
controller dynamics. The obtained controllers are validated in GH Bladed and
an exhaustive analysis is done to calculate the load reduction rate in wind
turbine components.

Torque Controller:
Bode Diagram
From: Generator Speed

From: Tow er Side-to-Side Accel

90

T1ss
r1

r2
Dr2
De2

Dr1
De1

y1

60

G12(s)

1
De 2

Zp11

y2

To: Torque

W11(s)

Du

Magnitude (dB)

DT

70

1
De1

G11(s)

80

50

40

W12(s)

Zp12
30

W2(s)

Zp2

W31(s)

HINF MISO Torque cont

20

Zp31

HINF MISO Torque red

W32(s)

Zp32

HINF MISO Torque disc

10

-2

10

10

-2

10

10

10

10

Frequency (Hz)

Pitch Controller:
Bode Diagram

Include notch filters in the pitch

controller dynamics

From: Generator Speed

From: Tow er Fore-Aft Accel

-20

-40

1P
3P
2nd tower side-to-side
Rotor 1st collective in plane
Rotor 2nd collective in plane

0.201
0.603
2,86
3,69
7,36

T1fa

-60

To: Pitch

Frequency (Hz)
Magnitude (dB)

Objectives

Mode

Notch Filters

Notch Filters

-80

-100

-120
HINF MISO Pitch cont
HINF MISO Pitch red

Controller objectives in Above Rated power production zone:

HINF MISO Pitch disc

-140

-2

10

10

-2

10

10

10

10

Frequency (Hz)

Validation of the Upwind controller in Simulink

Generator speed control (higher output sensitivity bandwidth).

Mitigate the load on the drive train reducing the wind effect on the drive
train mode.
Mitigate the load on the tower reduding the wind effect on the tower first
modes (side-to-side and fore-aft).
Improve the load mitigation comparing to a baseline controller based on the
classical control strategy (Drive Train Damping, Tower Fore-Aft Damping and
Pitch PI controller with gain scheluding).

Wind2Tow erAcelFore-Aft

Wind2Tow erAcelSide-to-Side
10

20

Plant Wind2Tow erTopAcelX

Baseline Controller DTD off & TD off

T1ss

T1fa

2Hinf MISO
-10

Magnitude (dB)

Magnitude (dB)

-40

-30

-40

-50

-60

-60

Baseline Controller DTD off & TD off

-80

Tow erAcelFore-Aft : Wind Step Response

Baseline Controller DTD on & TD off

Baseline Controller DTD on & TD on0.2

Methodology

DT

-20

-20

Plant Wind2Tow erTopAcelX

Tow erAcelSide-to-Side : Wind Step Response

From: Vw ind

From: Vw ind

-70

0.02

Baseline Controller DTD off & TD off

2Hinf MISO

Baseline Controller DTD off & TD off

Baseline Controller DTD on & TD off

Baseline Controller DTD on & TD on

0.15

-100
-3
10

-2

10

-1

10

10

Baseline Controller 2Hinf MISO

-80
-2
10

10

10

0.1

-1

10

10

-0.015

Reduce the wind effect on the tower first

side-to-side mode (T1ss).

10

15

20

25

-0.02

30

10

20

30

40

50

60

70

80

90

4.8

1300
1250
1200
1150
Baseline Controller DTD off & TD off
Baseline Controller DTD on & TD off
Baseline Controller DTD on & TD on
2Hinf MISO

1100
1050
1000

50

100

150

200

250
300
Time (s)

350

400

450

500

Generator Torque (Nm)

Generator Speed (rpm)

25

Generator Torque

x 10

Baseline Controller DTD off & TD off

Baseline Controller DTD on & TD off
4.6 Baseline Controller DTD on & TD on
2Hinf MISO
4.4

4.2

4
100

550

110

120

130

140

Electrical Power
20

150
Time (s)

160

170

180

190

200

160

170

180

190

200

Pitch Angle

6000

35
30

5500

5000

4500

25
20
15
10

50

100

150

200

250
300
Time (s)

350

400

450

500

550

4000

50

100

150

200

250
300
Time (s)

350

400

450

500

550

5
100

110

120

130

140

150
Time (s)

Tower Base Mx

300

Load reduction analysis (Rainflow counting algorithm)

Baseline Controller DTD off & TD off

Baseline Controller DTD on & TD off
Baseline Controller DTD on & TD on
2Hinf MISO

T1ss

250

DTD off & TD off

DTD on & TD off
DTD on & TD on
2Hinf MISO

DT

200

150

0.5

1.5
Freq (Hz)

2.5

2.5

Tower Base My
350

Amplitude (dB)

Extract linear
models from
Bladed

Amplitude (dB)

350

Compare to
the classical
control
strategy

300

T1fa

250

200

150

WIND TURBINE
NON LINEAR MODEL

Bladed

0.5

1.5
Freq (Hz)

Conclusions
Linearization
Process

External
Controller

H controller design strategy is defined.

The controller is validated in GH Bladed for production winds in Above Rated.

YES
Validate the
controller (SFunction in
Simulink)

NO

Frequency
Analysis

Results obtained with H controllers are compared to the baseline classical

controller.

Extract Linear
Models

Modal Analysis

Scale the nominal

plant and select
weight functions

Robust Analysis

H-infinity controller
synthesis

Validate the
controller in
Simulink

Design the
controller in
Matlab

100

Time (s) (sec)

Generator Speed

15

H-infinity Controller Design Methodology

1350

30

10

Validate the
controller in
GH Bladed

-0.15

Pitch (deg)

Reduce the wind effect on the drive train

mode (DT).

H Pitch
Controller

-0.005

-0.01

Hub Wind Speed

Reduce the wind effect on the tower first

fore-aft mode (T1fa).

H Torque
Controller

-0.1

35

Torque controller objectives:

-0.05

Electrical Power (W)

U_Torque

0.005

Results (Compared to the classical controller) of Upwind Model

Generator speed control.

TowerAcel
fore-aft

0.01

Time (s) (sec)

Hub Wind Speed (m/s)

WIND TURBINE

0.05

-0.2

Pitch controller objectives:

TowerAcel
side-to-side

10
TowerAcelSide-to-Side (m/s 2)

TowerAcelFore-Aft (m/s 2)

Two H MISO controllers:

U_Pitch

Frequency (Hz)

Selected control strategy

Wg

Baseline Controller DTD on & TD off

Baseline Controller DTD on & TD on

0.015

2Hinf MISO

Frequency (Hz)

Wind

Baseline Controller DTD on & TD off

Baseline Controller DTD on & TD on

Due to the gain variations in the different operation points of the linear plants
used to synthetize the pitch controller for generator speed tracking, the LTI
(linear time invariant) H controller could be enhanced by means of a LPV
(linear parameter varying) controller to improve the system robustness.
The work described in this paper has been supported by the Basque Country Government (Spain)
and the Regional Council of Aquitaine (France), in the frame of Cooperation Commons Funds
Euskadi-Aquitaine (Project Bladed).

EWEA OFFSHORE 2011, 29 November 1 December 2011 , Amsterdam, The Netherlands