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1 Introduction
The necessity to develop alternative energy resources motivates researchers to develop more profitable
models of wind turbine, more stable and with minimal cost of production, the improvement of the
performances of the systems need the total knowledge of the behavior of the system; this remains a
difficult task due to the complexity of the system. Wind turbines are mechanical systems with
complex structure, several elements have large flexibility as blades, towers and the drivetrain, this
flexibility has a great influence on the behavior of the system, they can set the unwanted vibration and
excites some resonance frequency, it can also create fluctuations in the level of energy, then his
negligence when modeling is not beneficial. We can ever talking of control or optimization of a wind
turbine without mentioning the modeling; its a critical task, the most of researches in this field aim to
found methods more simple and effective model that describes the systems behavior so as precise.
The majority of these works are based on classical methods, In earlier literature, we find [10] and [5]
which is based on the LAGRANG and KAN methods, other works are based on the Finite elements
method that we can find [7],
The works that chosen bond graph as a modeling method of flexible wind turbine are scarce; the
majority of theme nglects the flexibility of several important elements of wind turbine.
In this work we have chosen to apply the bond graph method to modeling a flexible wind turbine, it is
a graphical way of modeling physical systems. All these physical systems have in common the
conservation laws for mass and energy, in 1961, deals with the conservation of energy. This gives a
22me Congrs Franais de Mcanique Lyon, 24 au 28 Aot 2015
unied approach to modeling physical systems. Further follows a short introduction to this modeling
tool, more information can be found in [xxx].
f2 e2 f2 e2
e1 e1
e3e2 e3e2
0 1
f1 f3 f1 f3
1 2
TF : m 1 2
Gy : r
Table 2 shows the permitted causality permutations for components, junctions and transformers
respectively.
Table 1 : Causality stroke and Assignments for bond graph
Causal form Causal relation Type
Se e Se Fixed
f Sf Causality
Sf
R
f
e Resistor
R Conductivity
R e R* f
I 1 Integral
I
f e dt
Derived
I df
eI
dt
C 1 Integral
C
e f dt
Derived
C de
f I
dt
1 2 e1 m * e2 ; f 2 m * f1 Symmetric
TF : m
1 2 e1 f
TF :m e2 ; f1 2
m m Symmetric
1 2
Gy : r
e1 r * f 2 ; e2 r * f1 Antsymmetric
1 2 e1 e
Gy : r f2 ; f2 2
r r Antsymmetric
3
e2 e3 e1 One effort is
1 2 f1 f 2 f 3 imposed on the
0
junction 0
3
f 2 f 3 f1 One flow is
1 2 e1 e2 e3 imposed on the
1
junction 1
In this section a flexible model is proposed including the necessary dynamics, this model describes the
flap wise of blades in plan, tower binding and the dynamic of the drivetrain, this last one is considered
as three mass drivetrain, the figure 2 shows the structure of the proposed model .
22me Congrs Franais de Mcanique Lyon, 24 au 28 Aot 2015
Figure 4: proposed
(Proposed model
model structure
structure)
To simplify the modeling of the system, we divided the system model on several sub-models, the
representation of the wind turbine is developed by assembling bond graph represent of the
different elements as shown in the word bond graph figure 2
Asynchrone
Msf Aerodynamic Blade Drive Generator
1
Speed s Train
Tower
4 Blades model
The proposed model is based on Euler Bernoulli beam model and blade elements momentum BEM,
the global model is built from coupling between aerodynamic model and structural model, the
structure of model is shown in the follows figure.
Aerodynamics
Wind Speed Forces
Aerodynamic Structural
model Model
(BEM model) (Euler Bernoulli
Blade
model)
bending
Rotor speed
Figure 6 : blade model
In this model, we include just the flapwise bending, we neglect the edgewise and torsional vibration of
blade.
A generic bond graph approximation of one dimensional focusing on fundamental aspects, let us
consider the classical example of a beam assuming the Bernoulli hypothesis that rotary inertia and
shear deformation can be neglected (Bernoulli-Euler beam) .Let us also assume that only transversal
forces act on the beam.
The bond graph presented following describe the model of one flexible blade, an integral causality is
imposed.
The boundary condition of the blade model is represented by the S f and Se sources. The connection
between the blade and the hub is assumed to be rigid, this means S f = 0. Se1 , Se 2 , and Se3 are the
aerodynamics forces applied on blade, Ci represents the stiffness of each elements of blade, Ri and Ii
represent respectively the damping and the masses of elements.
Equation of motion :
to get the dynamic model of the blade, we have followed the bond graph process, firstly we
determine the equation assisted to each junction and each elements.
From equations junctions, we determined the generalized coordinates equations of blades, the states
variable of blade are:
P7 , P12 , P18 , q2 , q4 , q9 , q16 , q14
1 1 1 1
P7 Se1 q4 R1 P7 R2 P q9 q4 q9 (1)
C1 I1 I1 C2
With
1 1 1 1 (2)
P12 Se2 q10 R2 P12 R3 P12 q14
C2 I2 I2 C3
1 1
P18 Se3 q16 R3 P18 (3)
C3 I3
1 (4)
q4 f 4 f 7 P7
I1
q2 f 2 S f (5)
1
q9 f9 f 7 P7
I1 (6)
1
q10 f10 f12 P12
I2 (7)
1
q14 e14 f14 f12 P12
I2 (8)
1
q16 f16 f18 P18
I3 (9)
q4 q9 q10 q14
From the equations related to elements C1, C2 and C3 was: And
From the bond graph model and the precedent junction equations and elements we can formulate a set
of manipulator robot differential equations in the following matrix form:
R1 1 1
0 0 0 0
I1 c1 c2
R R 1 1
0 2 3 0 0 0
p7 I 2 I3 c2 c3 P7 1 0 0
p
12 R3 1 P12 0 1 0
P 0 Se1
p18 0 0
I3
0 0
c3 0 1
18
Se 2
q9 1 q
9 0 0 0
Se 3
q 0 0
0 0 0 0 0
q14 0
14 I1
q16 1 q16 0 0 0
0 0 0 0 0
I2
1
0 0 0 0 0
I3 (10)
22me Congrs Franais de Mcanique Lyon, 24 au 28 Aot 2015
r Rr (1 a ')
Vw (1 a)
Incoming
flow velocity
Wind
A MGY (modulated gyrator) element is used to implement Eqs. (2-4), since wind (MSf source) is
transformed into a Se source (aerodynamic force), as shown in figure 7.
Klss JG1
Jg
KHss
ng
Blss
JG2
Br BHss
Bg
Equation of motion
f f 7 f8 e e e 1
"1" 5 "0" 10 12 12 J ss : f 2 Jss P2
e5 e7 e8 0 f10 f11 f12 0
J :f 1 P
G1 9 J 9
G1
" I ":
1
J G 2 f14 P14
J G2
J g : f 22 1 P22
Jg
f f f15 e e e 1
"1" 13 14 "0" 15 16 17 J ss : f 2 Jss P2
e13 e14 e15 0 f15 f16 f17 0
J :f 1 P
G1 9 J 9
G1
" I ":
1
J G 2 f14 P14
JG2
J g : f 22 1 P22
Jg
f f18 f19 Br : e3 Br f3
"1" 16 B :e B f
e16 e18 e19 0 g 20 g 20
" R ": Bls : e8 R1 f8
B :e R f
hs 18 2 18
Rg : e11 Rg f 11
f f 20 f 21 f 22 1
"1" 17 kls : e7 k q7
e17 e20 e21 e22 0 ls
" C ":
k : e 1
q
hs 19 khs 19
f f9 f10
"1" 6
e6 e9 e10 0
Br R1 R1 1
J JG1
0 0
c1
0
ls
R1 R1 R9 Rg 1
0 0
p2 J ls JG1 ng J G 2 c1 P2 1 0
p
9
R2 Bg R2 1 P9 0 1
0 0 0
p22 Jg JG2 c2 P22 0 0 Ta
P14 Rg R2 Rg R2 1 P14 0 0 Tem
q 0 0
ng 2 J G 2 c2 q7 0 0
7 n g J G1 Jg JG2
q19 1 1 q19 0 0
0 0 0 0
J ls J G1
1 1
0 0 0 0
Jg JG2
(21)
6 Tower motion model
It is assumed that the tower movement does not inuence the mechanical system; it only affects its
input
7 assemblage model
The individual models presented in previous sections are assembled as shown in figure 15.
8 Conclusion
In this work, a model of a flexible wind turbine is built by using the bond graph method; we
introduced in this model the flexibility of blades, shafts, and the tower we finally got a complete
model that describes the behavior of wholes the essential elements of the system and less difficult than
other methods, in the future work we will analyze the behavior of de system and we will compare it
with a classical method to show the efficiency of this method.
References
[1] Tore Bakka and Hamid Reza, Bond graph modeling and simulation of wind turbine systems,
Journal of Mechanical Science and Technology 27 (6) (2013) 1843~1852
[2]Fatima Zahra Baghli, Larbi El bakkali, Modeling and Analysis of the Dynamic Performance of a
Robot Manipulator driving by an Electrical Actuator Using Bond Graph Methodology, International
Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:14 No:04
[3]Wolfgang Borutzky, Bond Graph Methodology, Springer-Verlag London Limited 2010
[4]Y. Lakhal, Baghli F, L. El Bakkali, Dynamic Modeling and Simulation of a Flexible Wind Turbine
for a Multi-objectives Control. International Journal of Mechatronics, Electrical and Computer
Technology; Vol. 4(10), Jan, 2014, Special Number, pp. 1063-1083, ISSN; 2305-0543
[5] Alan D. Wright, Modern control design for flexible wind turbine, Technical Report National
renewable, energy laboratorycolorado.USA.
[6] Y. Lakhal, Baghli F, L. El Bakkali, Fuzzy Logic control strategy for maximum power point
tracking for horizontal axis wind turbine, Volume 19C, 2015, Pages 599-606
[7] R. Oulad Ben Zarouala,C. Vivas, J. A. Acosta, and L. El Bakkali, On Singular Perturbations of
Flexible and Variable-Speed Wind Turbines International Journal of Aerospace Engineering Volume
2012
[8] Anders Ahlstrom, Aeroelastic Simulation of Wind Turbine Dynamics, April 2005,Doctoral
Thesis from Royal Institute of Technology Department of Mechanics SE-100 44 Stockholm, Sweden