Energy 64 (2014) 868e874

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Energy
journal homepage: www.elsevier.com/locate/energy

Adaptive neuro-fuzzy maximal power extraction of wind turbine

with continuously variable transmission



si

Dalibor Petkovi

c a, Zarko
Cojba
c a, Vlastimir Nikoli

c a, Shahaboddin Shamshirband b, *,
Miss Laiha Mat Kiah b, Nor Badrul Anuar b, Ainuddin Wahid Abdul Wahab b
a
b

University of Nis, Faculty of Mechanical Engineering, Department for Mechatronics and Control, Aleksandra Medvedeva 14, 18000 Nis, Serbia
Department of Computer System and Technology, Faculty of Computer Science and InformationTechnology, University of Malaya, 50603 Kuala Lumpur, Malaysia

a r t i c l e i n f o

a b s t r a c t

Article history:
Received 19 June 2013
Received in revised form
28 October 2013
Accepted 30 October 2013
Available online 26 November 2013

In recent years the use of renewable energy including wind energy has risen dramatically. Because of the
increasing development of wind power production, improvement of the control of wind turbines using
classical or intelligent methods is necessary. To optimize the power produced in a wind turbine, the
speed of the turbine should vary with the wind speed. Variable-speed operation of wind turbines presents certain advantages over constant-speed operation. In this paper, in order to maintain the maximal
output power of wind turbine, a novel intelligent controller based on the adaptive neuro-fuzzy inference
system (ANFIS) is designed. To improve the wind energy available in an erratic wind speed regime, a
wind generator equipped with continuously variable transmission (CVT) was proposed. In this model the
ANFIS regulator adjusts the system speed, i.e. CVT ratio, for operating at the highest efciency point. The
performance of proposed controller is conrmed by simulation results. Some outstanding properties of
this new controller are online implementation capability, structural simplicity and its robustness against
any changes in wind speed and system parameter variations. Based on the simulation results, the
effectiveness of the proposed controllers was veried.
2013 Elsevier Ltd. All rights reserved.

Keywords:
Wind turbine
Power coefcient
Continuously variable transmission
Intelligent control
ANFIS controller

1. Introduction
Renewable energies such as wind and solar energy conversion
systems have driven attention during the past decade due to the
environmental concerns. Wind is a natural resource that features
many advantages since it is clean and considered reliable in some
areas.
A wind turbine system is a system that converts the wind turbines mechanical energy obtained from wind into electrical energy
through a generator and can be categorized by the types of generators used, power control methods, constant- or variable-speed
operation, and methods of interconnecting with the grid [1].
Variable-speed operation of a wind turbine is generally more advantageous over constant-speed operation since a variable-speed
operation is able to track the maximum power of the wind turbine with wind speed changes. Modern high-power wind turbines
are equipped with adjustable speed generators [2]. It was shown
that the control strategies have a major effect on the wind turbine

* Corresponding author. Tel.: 60 146266763.

E-mail addresses: dalibortc@gmail.com (D. Petkovi

c), shahab1396@gmail.com
(S. Shamshirband).
0360-5442/$ e see front matter 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.energy.2013.10.094

and whatever the kind of the wind turbine, the control strategy
remains a key factor [3e6].
As wind energy becomes more dominant there is growing interest in controlling wind turbines or wind plants in an intelligent
manner to minimize the cost of wind energy. This can be done by
controlling the turbines to extract more energy from the wind. In the
wind energy conversion systems, the control problem consists of
delivering the maximum power available from the wind to ensure
the system reliability and security in order to deal with the variable
nature of the generated energy [7e9]. Wind power conversion depends essentially on the power coefcient, Cp of the machine
which transforms the efciency of converting wind power to electrical power. In order to implement maximum wind power extraction, the wind turbine generator must be operated at variable-speed
mode. The power coefcient is characterized as a function of both tip
speed ratio and the blade pitch angle. The tip speed ratio is the ratio
of linear speed at the tip of blades to the speed of the wind. Optimal
performance of the wind turbine can be obtained if the transmission
ratio could change with the wind speed [10,11]. In this paper a
continuously variable transmission (CVT) has been installed between a wind turbine and a generator to make the turbine operate
along the maximum efciency. The aim of the investigation was to
change the transmission ratio between the wind turbine and the

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c et al. / Energy 64 (2014) 868e874

a rotor disk that is perpendicular to the wind ow. The wind turbine
can only capture a fraction of the power available from the wind.
The ratio of captured power to available power is referred to as the
power coefcient

generator at different wind speeds so that the turbine may be kept

running at maximum efciency levels at all wind speeds. It is known
about automatic CVT regulation to adjust and stabilize their transmission ratio according to transmitted torques without relying on
other regulating or control mechanisms [12,13]. Considering all
these, it is interesting to explore the feasibility of installing an
automatic CVT in a wind turbine since such a solution may optimize
the efciency of these systems by means of simple technologies.
To improve the control of the wind turbines, fuzzy logic (FL) [14e
19] or articial neural network (ANN) control has attracted much

0
B
Cp b; Ve ; Ur ; R 0:5176@

RUr
 0:08b
Ve

which is a function of the collective blade pitch angle b, effective

wind speed Ve, rotor speed Ur and rotor radius R. The value of Cp can
be expressed according to Ref. [54] as:

0:035

21
0:035
b3 1

C RUr 0:08b
 0:4b  5Ae Ve

0:0068

RUr
Ve

b3 1

attention in recent years [20e27]. As a non-linear function [28e31],

ANNs can be used for identifying the extremely non-linear system
parameters with high accuracy. Neural networks can learn from
data. However, understanding the knowledge learned by neural
networks has been difcult. In contrast, fuzzy rule based models are
easy to understand because they use linguistic terms and the
structure of IF-THEN rules. Unlike neural networks, however, fuzzy
logic by itself cannot learn [32]. Since neural networks can learn, it is
natural to merge these two techniques. This merged technique of
the learning power of the ANNs with the knowledge representation
of FL has created a new hybrid technique, called neuro-fuzzy networks or adaptive neuro-fuzzy inference system (ANFIS) [33]. ANFIS,
as a hybrid intelligent system that enhances the ability to automatically learn and adapt, was used by researchers for modeling
[34e37], predictions [38e40] and control [41e45] in various engineering systems. The basic idea behind these neuro-adaptive
learning techniques is to provide a method for the fuzzy modeling
procedure to learn information about data [46e53].
In this paper, the application of ANFIS is proposed to control the
CVT ratio to extract the maximal wind energy through the wind
turbine. As inputs in the controller, current wind speed and current
wind turbine rotor speed are used. The output should be optimal
generator speed.
2. Wind turbine power extraction and continuously variable
transmission
The major components of a typical wind energy conversion
system include a wind turbine, a generator, interconnection apparatus, and control system. Therefore, the design of a wind energy
conversion system is complex. The most important part of a wind
energy conversion system is the wind turbine transforming the
wind kinetic energy into mechanical or electric energy. The system
basically comprises a blade, a mechanical part and an electric engine
coupled to each other. The kinetic energy of wind is the function of
wind speed, the specic mass of air, the area of air space where the
wind is captured and the height at which the rotor is placed. The
power available in a uniform wind eld can be expressed as

Pw

Cp b; Ve ; Ur ; R

1
116

869

1
rAy3
2

where Pw is the power [W] of the wind with air density r [kg/m3]
and wind speed n [m/s] is passing through the swept area A [m2] of

A characterization of the power coefcient Cp for the wind

turbine used in this study is optimized to achieve maximum value.
The optimization procedures is expressed as

maxCp Cp b; Ve ; Ur ; R


45  b  0
50 m=s  Ve  8 m=s
30 rpm  Ur  60 rpm
R 25 m

(1)

In this paper a new approach to a CVT power transmission system is presented. It is added just before the generator, avoiding the
need to change the main gearbox and the aerodynamic tip brake
control pipes. Fig. 1 shows a widely used power transmission system
of a wind turbine with the proposed CVT system installed. The power ows from the rotor hub through the input shaft to the main
gearbox. It is the same unit that is used in a xed speed wind turbine. This gearbox could consist of a planetary stage and two simple
spur gear stages. The disc brake is conventionally installed after the
main gearbox. In a xed speed design the power would ow from
the main gearbox directly to the generator. This is the point where
the proposed CVT system is installed. It is suggested to use for CVT
system two spring-loaded pulleys, one at the driving shaft and one
at the driven shaft. With such a simple and inexpensive solution, the
CVT was automatically regulated and adjusted its transmission ratio
to the torque applied on the driving pulley. A layout of the drive train
components of the wind turbine is illustrated in Fig. 2.
The general speed ratio iCVT is given by:

iCVT

uA
uB

where uA is the angular velocity of the power input shaft and is

connected to the output shaft of the main gearbox. The uB is the
angular velocity of the output shaft connected to the generator.
Finally there is adjustment shaft with angular velocity uC which is
connected to the hydraulic system. Variation of the speed of the
adjustment shaft leads to variation of the total transmission ratio of
the gearbox. The angular velocities of the three shafts uA, uB, uC
fulll the following relationship:

uC x$uA y$uB
where x and y are constants dened by the numbers of teeth of each
gear and the overall gearbox system. In the special case where

D. Petkovi
c et al. / Energy 64 (2014) 868e874

870

Fig. 1. Power transmission system of a CVT regulated wind energy converter.

Fig. 2. Wind turbine drive train components.

uC 0 the angular velocities of the input and output shaft are uA0
and uB0 and the speed ratio is
iCVT

uA0
y

uB0
x

A new variable f is introduced to describe the difference of the

current angular velocity of the input shaft uA from uA0.

uA  uA0
uA0

(2)

f 0 means that uA uA0. In terms of f the speed ratio of the

gearbox is given by:
y
iCVT  $1 f iCVT0 $1 f
x
The speed ratio iR between the adjustment shaft uC and the
input shaft uA can also be expressed in terms of f:

iR

uA
1 1f
$
uC
x f

view, it brings stability to the system when there is a disturbance,

thus safeguarding the equipment from further damage. It may be a
hardware-based controller or a software-based controller or a
combination of both. In this section, the development of the control
strategy for control of the wind turbine rotor radius and rotor speed
is presented using the concepts of ANFIS control scheme, the block
diagrams of both the control schemes are shown in Fig. 3. The fuzzy
logic controller provides an algorithm, which converts the linguistic control, based on expert knowledge, into an automatic
control strategy. Linguistic variables, dened as variables whose
values are sentences in a natural language (such as large or small),
may be represented by the fuzzy sets. A fuzzy set is an extension of
a crisp set where an element can only belong to a set (full membership) or not belong at all (no membership). Fuzzy sets allow
partial membership, which means that an element may partially
belong to more than one set. Therefore, the fuzzy logic algorithm is
much closer in spirit to human thinking than traditional logical
systems. The main problem with the fuzzy logic controller generation is related to the choice of the regulator parameters. For this
reason, we apply the ANFIS methodology to adapt the parameters
of the fuzzy controller according to real data about the problem.

In quasi steady state conditions the power and moment equilibriums of the black box is:

PA PB PC 0

(3)

TA TB TC 0

(4)

By replacing P u$T in Eq. (3) and combining with Eqs. (4) and
(2) and adjustment power ratio can be obtained in terms of f:

f
PC

PA
1f
The above equation directly relates the power PC required to
change the speed uA by a factor of (1 f) to the input power PA.
3. ANFIS controller design
A controller is a device which controls each and every operation
in a decision-making system. From the control system point of

Fig. 3. Block diagram of the ANFIS control scheme for the wind turbine rotor radius
control.

D. Petkovi
c et al. / Energy 64 (2014) 868e874

871

The ANFIS structure is tuned automatically by least-square

estimation and the back propagation algorithm. ANFIS controllers
in general have six modules, which are as follows.
1. Preprocessing: during preprocessing different values of effective
wind speed and rotor speed are chosen.
2. Fuzzication: process by which a particular input is rated in
terms of its belongingness to a certain membership function
(MF). Here, the crisp variables were converted into fuzzy variables or the linguistic variables.
3. Fuzzy inference engine: values of linguistic variables are acquired
using fuzzication, which makes it easier to implement. During
the second fuzzication stage, the set point is converted into
linguistic variables.
4. Rule base: a rule base was acquired for the functioning of fuzzy
controller. The developed fuzzy rules were obtained during the
construction of ANFIS controller.
5. Defuzzication: done on the output data that is achieved after
the data has been passed through the module.
6. Post-processing: the output of the input fuzzy system here was
the prescribed numerical optimal CVT ratio and obtained power
output of the wind turbine.
Fig. 4 shows an ANFIS structure for two inputs, effective wind
speed and rotor speed and for one output, the optimal wind turbine
CVT ratio. According to these inputs, and the training input/output
data pairs, the ANFIS network could make decision for to achieve
maximal wind energy conversion from the wind turbine. Training
input/output data pairs were collected from the presented optimization procedures (1) and from CVT ratio related expressions.
In this work, the rst-order Sugeno model with two inputs and
fuzzy IF-THEN rules of Takagi and Sugenos type is used:

if x is A and y is C then f1 p1 x q1 y r1
The rst layer consists of input variables (MFs), input 1 and input
2. This layer just supplies the input values to the next layer. In the
rst layer every node is an adaptive node. In this study, triangle MFs
with maximum equal to 1 and minimum equal to 0 are chosen
(Fig. 5), such as

mx trianglex; ai ; bi ; ci

8
0;
>
>
>
>
>
>
>
xai
>
>
< bi ai ;
>
ci x
>
>
;
>
ci bi
>
>
>
>
>
:
0;

x  ai
ai  x  bi
bi  x  ci
ci  x

where {ai, bi, ci} is the set of parameters set that in this layer are
referred to as premise parameters. In this layer x and y are the

Fig. 4. ANFIS structure.

Fig. 5. A trapezoidal membership function.

inputs to nodes and they are effective wind speed and rotor speed.
Table 1 summarizes relation between effective wind speed and
rotor speed used in this study as the ANFIS inputs.
The second layer (membership layer) checks for the weights of
each MFs. It receives the input values from the rst layer and acts as
MFs to represent the fuzzy sets of the respective input variables.
Every node in the second layer is non-adaptive and this layer
multiplies the incoming signals and sends the product out like
wi m(x)*m(y). Each node output represents the ring strength of a
rule.
The third layer is called the rule layer. Each node (each neuron)
in this layer performs the pre-condition matching of the fuzzy
rules, i.e. they compute the activation level of each rule, the number
of layers being equal to the number of fuzzy rules. Each node of
these layers calculates the weights which are normalized. The third
layer is also non-adaptive and every node calculates the ratio of the
rules ring strength to the sum of all rules ring strengths like
w*i wi =w1 w2 ; i 1; 2; . The outputs of this layer are called
normalized ring strengths.
The fourth layer is called the defuzzication layer and it provides the output values resulting from the inference of rules. Every
node in the fourth layer is an adaptive node with node function
O4i w*i xf w*i pi x qi y ri where {pi,qi, r} is the parameter set
and in this layer is referred to as consequent parameters.
The fth layer is called the output layer which sums up all the
inputs coming from the fourth layer and transforms the fuzzy
classication results into a crisp (binary). The single node in the

Table 1
ANFIS input parameters.
Wind speed [m/s]

Rotor speed [rpm]

8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
40
42
44
46
48
50

36
36
40
47
54
60
60
60
58
53
50.6
49.4
48.5
48.5
48.5
48.5
48.5
48.5
48.5
48.5
48.5
48.5

D. Petkovi
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872

fth layer is not adaptive and this node computes the overall output
as the summation of all incoming signals

O4i

X
i

P
wf
w*i xf Pi i
i wi

This type of adaptive network is functionally equivalent to a

type-3 fuzzy inference system. The hybrid learning algorithms
were applied to identify the parameters in the ANFIS architectures.
In the forward pass of the hybrid learning algorithm, functional
signals go forward until Layer 4 and the consequent parameters are
identied by the least-squares estimate. In the backward pass, the
error rates propagate backwards and the premise parameters are
updated by the gradient descent.
4. Results
In this paper ANFIS training and checking data are extracted
using above mentioned optimization procedure (1) and by CVT
ratio related expressions. Power coefcient is used as numerical
indicator for the wind turbine energy estimation.
The nal decision surfaces after ANFIS training is shown in
Figs. 6e8.
The wind turbine power coefcient as function of the effective
wind speed and rotor speed is implemented in MATLAB Simulink
block diagrams as shown in Fig. 9. It shows block diagram for
estimation of the optimal wind turbine CVT ratio to achieve
maximal power coefcient while the rotor speed is variable. This
approach is very useful for fast estimation of the maximal wind
turbine power coefcient according to the main wind turbine parameters and wind speed variation as well.

Fig. 7. ANFIS predicted relationships for the optimal CVT ratio between (a) effective
wind speed (input 1), rotor speed (input 2) and generator speed (output) e ANFIS 2.

5. Conclusion
In summary, wind energy is a rapid growing industry, and
this growth has led to a large demand for better modeling and
control of wind turbines. The uncertainties and difculties in
measuring the wind inow to wind turbines makes the control
difcult, and more advanced modeling via system identication
techniques and a number of advanced control approaches should
be explored to reduce the cost of wind energy. The wind
resource available worldwide is large, and much of the worlds
future electrical energy needs can be provided by wind energy

Fig. 6. ANFIS predicted relationships between (a) effective wind speed (input 1), rotor
speed (input 2) and CVT ratio (output) e ANFIS 1.

Fig. 8. ANFIS predicted relationships between (a) optimal CVT ratio (input 1), generator speed (input 2) and wind turbine power output (output) e ANFIS 3.

alone if the technological obstacles are overcome. The application of advanced controls for wind energy systems is still in its
infancy, and there are many fundamental and applied issues that
can be addressed by the systems and control community to
signicantly improve the efciency, operation, and lifetimes of
wind turbines.
Variable-speed operation of wind turbine is necessary to increase power generation efciency. The presented research work
deals with variable-speed wind control design, in order to achieve
the objectives of maximizing the extracted energy from the wind.
This paper has suggested coupling a wind turbine rotor to a
generator by means of a continuously variable transmission to
maximize turbine efciency. The CVT is added just before the
generator, avoiding the need to change the main gearbox and the
aerodynamic tip brake control pipes. It allows for varying the speed
of the rotor according to the current wind speed while retaining the
speed of the generator constant, leading to a better exploitation of
the available wind energy potential. The implementation of the
system does not require a new main gearbox. Instead, it can be
mounted just before the generator.

D. Petkovi
c et al. / Energy 64 (2014) 868e874

873

Fig. 9. Simulink block diagram for estimation of the optimal wind turbine CVT ratio.

An intelligent controller has been suggested. The ANFIS

controller was developed in order to implement a maximum power
tracking scheme for a wind turbine. This method is based on the
regulation of CVT ratio. We found that under the same operating
conditions the proposed method is able to gain more power if the
wind turbine is operated at variable-speed mode by the proposed
scheme. As the parameter for measuring performance of the wind
turbine power coefcient Cp was used. Two Simulink models were
developed in MATLAB with the ANFIS networks. The main advantage of designing the ANFIS coordination scheme is to achieve
maximal wind turbine power coefcient as the main turbine
parameter according to optimal CVT ratio. Simulations were run in
MATLAB and the results were observed on the corresponding
output blocks. The main advantages of the ANFIS scheme are
computationally efcient, well-adaptable with optimization and
adaptive techniques. The developed strategy is not only simple, but
also reliable and may be easy to implement in real time applications using some interfacing cards like the dSPACE, data acquisition
cards, NI cards, etc. for control of various parameters. This can also
be combined with expert systems and rough sets for other applications. ANFIS can also be used with systems handling more
complex parameters. Another advantage of ANFIS is its speed of
operation, which is much faster than in other control strategies; the
tedious task of training membership functions is done in ANFIS.
Using the CVT is more efcient in areas with turbulent wind
distribution.
The research is at an early stage; hence cost and performance of
the system are unknown. Being the analytical behavior of the system was limited to the steady state only, the application of the
proposed system has to be further investigated, i.e. dynamical
simulations of the proposed system should be interesting in order
to investigate the response to a gust.
Acknowledgment
The corresponding author would like to acknowledge the
nancial support of the Bright Spark Program at University of
Malaya. This paper is supported by Project Grant TP35005
Research and development of new generation wind turbines of
high-energy efciency (2011e2014) nanced by Ministry of Education, Science and Technological Development, Republic of Serbia.
The last author work is partly funded by the Malaysian Ministry of
Higher Education under the University of Malaya High Impact
Research Grant UM.C/625/1/HIR/MOHE/FCSIT/17.
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