Teorie Turbine de Vant

Control of Large Horizontal-Axis Wind
Turbines
Chen Wang
Supervisor: Professor George Weiss
Control & Power Research Group
Department of Electrical & Electronic Engineering
Imperial College London
Imperial College London, June 1, 2006
Control of Large HAWT - p. 1/35
Contents
Contents
Introduction
LPV control of the rotor current

of a DFIG
Aerodynamics of wind turbines
Suppression of vibrations in
wind turbines
Introduction
LPV control of the rotor current of a DFIG
Suppression of vibrations in wind turbine
Conclusions
Contents
Introduction
System overview
System overview
of a DFIG
Introduction

wind turbines
System overview
Contents
Introduction
System overview
System overview
of a DFIG


wind turbines
Figure 1:
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A grid-connected wind driven DFIG.
System overview
Contents
Introduction
System overview
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System overview
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Control of a grid-connected wind driven DFIG.

Contents
Introduction
of a DFIG
LPV systems
LPV systems
LPV systems
LPV systems
LPV model for the DFIG
LPV control of the rotor current of a

DFIG

LPV current control of the
DFIG
DFIG
wind turbines
LPV systems
Contents
Introduction
of a DFIG
LPV systems
LPV systems
LPV systems
LPV systems
DFIG
DFIG
wind turbines
Linear parameter varying (LPV) systems are a special class of

systems, which for every fixed value of the parameter vector
(t) Rs are linear time invariant (LTI) systems. We need to
consider LPV systems where the state-space matrices depend
on the vector of parameters (t) in an affine fashion. A
state-space representation of a LPV system is
x(t)
= A((t))x(t) + B((t))u(t),
y(t) = C((t))x(t) + D((t))u(t).
(1)
(2)
where x is the state (x Rn ), u is the input vector (u Rm )

and y is the measured output vector (y Rp ). In this report, we
only have to deal with LPV systems where measurements of
(t) are available in real time.
LPV systems
Contents
Introduction
of a DFIG
LPV systems
LPV systems
LPV systems
LPV systems
Notation 1.1. L2 [0, ) denotes the set of measurable, square

integrable functions of t, t > 0, with norm
R
1
kf kL2 = ( 0 |f (t)|2 dt) 2 . By abuse of notation, we will also use the
same notation for the space of vector-valued square integrable
signals.

DFIG
DFIG
wind turbines
Definition 1.1. Let Rs be a compact set of possible parameter

vectors. The LPV system from (1) and (2) has quadratic H
performance > 0 if there exists a matrix X > 0 such that
T
T
A() X + XA() XB() C()
T
T <0
(3)
B()
X
I
D()
C()
D()
I
for all (see P. Apkarian et al., 1995).
LPV systems
Contents
Introduction
of a DFIG
Remark 1.2. The LMI (3) implies, by multiplying the matrix from the
left with z T = [x(t)T u(t)T 1 y(t)T ] and then multiplying it from the
right with z, that
LPV systems
LPV systems
d
1
2
hXx(t), x(t)i ku(t)k ky(t)k2 .
dt
LPV systems
LPV systems
(4)

DFIG
stable. Because, taking u = 0
DFIG
wind turbines
If X > 0, 1 > 0 and (A, C) observable, then the system is
d
dt hXx(t), x(t)i
1 kyk2 ;
If the initial state of is zero, we obtain that kykL2 kukL2 ,

and this is true for any measurable function : [0, ) .
LPV systems
Contents
Introduction
of a DFIG
LPV systems
LPV systems
LPV systems
LPV systems
Definition 1.2 (Induced L2 -norm). For each , let G be the

transfer function of the stable system obtained by taking (t) = in
(1) and (2). The induced L2 -norm of the family G = (G ) is defined
by
kGk = sup kG k ,
(5)

DFIG
DFIG
where kG k = supRe(s)>0 kG (s)k.

It follows from Remark 1.2 that, if has quadratic H
performance > 0, then kGk .
wind turbines
Contents
Introduction
of a DFIG
LPV systems
LPV systems
LPV systems
LPV systems
DFIG
DFIG
wind turbines
Based on a 5th order nonlinear DFIG model, (see G.M. Asher

et al., 1996 and P. Vas, 1998), we take the state variables x as
the stator fluxes and rotor currents. The external input
variables w (disturbances and references) are stator voltages
and rotor current references. The controller output u consists
of rotor voltages. All of the variables are expressed in a dq
reference frame synchronous with the stator flux. Thus
ds
vds
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#

v
vdr
qs
qs
x=
.
, w = ref , u =
idr
idr
vqr
iqr
iref
qr
Contents
Introduction
of a DFIG
LPV systems
LPV systems
LPV systems
LPV systems
The tracking errors are z =
eidr
eiqr
iT
, where eidr = iref

dr -
idr and eiqr = iref

qr - iqr . The measured outputs are
h
iT
y = ds qs idr iqr
.
The state-space equations of the DFIG model are

DFIG
DFIG
x
z
y
= (A1 + sl A2 )x + B1 w + B2 u,
= C1 x + D11 w + D12 u,
= C2 x + D21 w + D22 u,
(6)
wind turbines
LPV current control of the DFIG
Contents
Introduction
of a DFIG
LPV systems
LPV systems
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wind turbines
Figure 3: LPV control of a wind driven DFIG
LPV current control of the DFIG
Contents
Introduction
a
3
:
of a DFIG
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LPV systems
LPV systems
LPV systems
LPV systems

DFIG
a
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wind turbines
Figure 4: Block diagram of the augmented plant for LPV controller design
Contents
Introduction
of a DFIG
Rotor blade theory
Rotor blade theory
Rotor blade theory

Rotor blade theory
Rotor blade theory
Rotor blade theory
Lift and drag coefficient
Axial force for structural pitch
Axial force for different pitch
angles
wind turbines
Rotor blade theory
Contents
Introduction
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of a DFIG
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a
a
r
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Radius of blade element (m)
Free-stream wind velocity (m/s)
Rotational speed of rotor (rad/s)
Rotor blade theory
Contents
Introduction


Rotor blade theory

Rotor blade theory
Rotor blade theory
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Contents
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of a DFIG


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angles

wind turbines
c
Vwr
Angle of attack (AOA)

Pitch angle
Flow angle of relative wind velocity Vwr to rotor plane
Blade chord length (m)
Wind velocity relative to a point on rotating blade
Rotor blade theory
Contents
Introduction
of a DFIG
Assume optimal operation which implies maximum power

efficiency, and a is constant along each blade, then we have
(see T. Burton, et al, 2001)

Rotor blade theory
a =
Rotor blade theory

Rotor blade theory
Rotor blade theory
Rotor blade theory
tan
Rotor blade theory


angles
Vwr
wind turbines
dFax
Cl (Cd )
1
,
3
a =
a(1 a)
2 2
1a
,
=
(1 + a )
= ,
q
2 (1 a)2 + 2 r 2 (1 + a )2 ,
=
U
T
=
1 2
V N c(Cl cos + Cd sin )dr,
2 wr
(7)
(8)
(9)
(10)
(11)
Non-dimensional radial position, r/R

Sectional lift (drag) coefficient
Contents
Introduction
of a DFIG

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Contents
Introduction

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Contents
Introduction
of a DFIG

Rotor blade theory
Rotor blade theory

Rotor blade theory

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wind turbines
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Contents
Introduction
of a DFIG
wind turbines
Wind turbine model
Suppression of vibrations in wind

turbines
Wind turbine model

Wind turbine tower model
Control of tower fore-aft
vibration
Control of drive-train torsional
vibration
vibration
vibration
Wind turbine model
Contents
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Introduction
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Wind turbine model
Contents
Introduction
The linear dynamics of the wind turbine about an equilibrium

point can be written as:

of a DFIG
[M ]
q + [D]q + [K]q = {f } + {fT }T + {fU }U ,
(12)

wind turbines
q, q,
q
Wind turbine model

Wind turbine model
vibration
vibration
vibration
vibration
, T, U
[M ], [D], [K]
{f ()}
The deviation of DOF displacement, velocity

and acceleration from the operating equilibrium point values
The deviations of the inputs from their operating point values
System mass, damping and stiffness matrices
The forcing function
Contents
Introduction
of a DFIG
wind turbines
Wind turbine model
The structural dynamics of a flexible wind turbine system can

be modeled as a uniform beam with top mass M , as shown in
Figure 10. The 1st natural frequency may be approximated as
(see J. van der Tempel, et al, 2002)
f12
Wind turbine model
3.04EI
.
2
3
4 (M + 0.227mL)L
(13)


vibration
vibration
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Contents
Introduction
of a DFIG
wind turbines
1
I D 3 t,
8
M
b=
,
mL
m = s Dt,
s
E
D
f1 2
.
L
104(b + 0.227)s
(14)
(15)
Wind turbine model

Wind turbine model
vibration
vibration
vibration
vibration
where
t
Tower wall thickness
D Tower average diameter
s Steel density
Contents
Introduction
of a DFIG
wind turbines
Wind turbine model
Table 1 Opti-OWECS characteristics

L
81m
N
2
Prated 3MW
T
22 rmp=0.37 Hz
Wind turbine model

3
3

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Introduction
of a DFIG
wind turbines
Wind turbine model
Table 2 Vestas V66 2MW characteristics

L
68m
N
3
Prated 2MW
T
10.5-24.4 rmp=0.17-0.4 Hz
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3

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Control of tower fore-aft vibration
Contents
Given the 1st fore-aft mode of the wind turbine tower, we have
Introduction
Mx
+ D1 x + K1 x = Fax ,

of a DFIG
st
Then the 1
tower fore-aft mode frequency is
wind turbines
Wind turbine model
Wind turbine model
Fax

vibration
vibration
vibration
vibration
(16)
p
Fax
= Dp1 x,
Dp1
x,
Fax /
K1 /M rad/s.
(17)
(18)
where Dp1 is the additional damping. The tower velocity x can

be calculated by integration of the tower acceleration
measured by an accelerometer mounted in the nacelle.
Control of drive-train torsional vibration
Contents
Given the 1st tower side-to-side mode, we have
Introduction
of a DFIG
wind turbines
Wind turbine model
Wind turbine model
Mx
+ D2 x + K2 x = Ft + Fg ,
st
Then
the
1
tower side-to-side mode frequency is
p
K2 /M rad/s.
Fg
Te

vibration
vibration
vibration
vibration
(19)
Fg
Te = Dp2 x,
Te
Dp2
x,
Fg /Te
(20)
(21)
where Dp2 is the additional damping.
Contents
Introduction

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Control of Large Horizontal-Axis Wind

Imperial College London, June 1, 2006

Control of Large HAWT - p. 1/35

LPV control of the rotor current

Aerodynamics of wind turbines

Imperial College London, June 1, 2006

Control of Large HAWT - p. 2/35

Aerodynamics of wind turbines

Imperial College London, June 1, 2006

Control of Large HAWT - p. 3/35

Aerodynamics of wind turbines

Imperial College London, June 1, 2006

A grid-connected wind driven DFIG.

Control of Large HAWT - p. 4/35

Control of a grid-connected wind driven DFIG.

LPV control of the rotor current of a

LPV model for the DFIG

Imperial College London, June 1, 2006

Control of Large HAWT - p. 6/35

Imperial College London, June 1, 2006

Linear parameter varying (LPV) systems are a special class of

where x is the state (x Rn ), u is the input vector (u Rm )

Control of Large HAWT - p. 7/35

Notation 1.1. L2 [0, ) denotes the set of measurable, square

LPV model for the DFIG

Definition 1.1. Let Rs be a compact set of possible parameter

Imperial College London, June 1, 2006

Control of Large HAWT - p. 8/35

LPV model for the DFIG

stable. Because, taking u = 0

Imperial College London, June 1, 2006

If X > 0, 1 > 0 and (A, C) observable, then the system is

If the initial state of is zero, we obtain that kykL2 kukL2 ,

Control of Large HAWT - p. 9/35

Definition 1.2 (Induced L2 -norm). For each , let G be the

LPV model for the DFIG

where kG k = supRe(s)>0 kG (s)k.

Imperial College London, June 1, 2006

Control of Large HAWT - p. 10/35

LPV model for the DFIG

Imperial College London, June 1, 2006

Based on a 5th order nonlinear DFIG model, (see G.M. Asher

Control of Large HAWT - p. 11/35

LPV model for the DFIG

The tracking errors are z =

, where eidr = iref

idr and eiqr = iref

LPV model for the DFIG

Imperial College London, June 1, 2006

Control of Large HAWT - p. 12/35

LPV current control of the DFIG

LPV model for the DFIG

Aerodynamics of wind turbines

Figure 3: LPV control of a wind driven DFIG

Imperial College London, June 1, 2006

Control of Large HAWT - p. 13/35

LPV current control of the DFIG

LPV control of the rotor current

LPV model for the DFIG

Imperial College London, June 1, 2006

Control of Large HAWT - p. 14/35

Aerodynamics of wind turbines

Rotor blade theory

Imperial College London, June 1, 2006

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