Nonlinear Control of Variable Speed Wind Turbines With Switching Across Operating Regimes

Author(s):  
Tuhin Das ◽  
Greg Semrau ◽  
Sigitas Rimkus

One of the key control problems associated with variable speed wind turbine systems is maximization of energy extraction when operating below the rated wind speed and power regulation when operating above the rated wind speed. In this paper, we approach these problems from a nonlinear systems perspective. For below rated wind speeds we adopt existing work appearing in the literature and provide further insight into the characteristics of the resulting equilibrium points of the closed-loop system. For above rated wind speeds, we propose a nonlinear controller and analyze the stability property of the resulting equilibria. We also propose a method for switching between the two operating regimes that ensures continuity of control input at the transition point. The control laws are verified using a wind turbine model with a standard turbulent wind speed profile that spans both operating regimes.

Author(s):  
Greg Semrau ◽  
Sigitas Rimkus ◽  
Tuhin Das

The key control problems associated with variable speed wind turbines are maximization of extracted energy when operating below the rated wind speed, and power and speed regulation when operating above the rated wind speed. In this paper, we develop a nonlinear systems framework to address these problems. The framework is used to visualize and analyze the equilibria of the wind turbine as its operating regimes and controllers change. For both below rated and above rated wind speeds, we adopt nonlinear controllers, analyze the stability property of the resulting equilibria, and establish the criterion for switching between control regimes. Further, the regions of attraction of the resulting equilibria are determined, and the existence of a common region of attraction, which allows stable switching between operating regimes, is shown. The control input maintains continuity at the point of switching. We next provide a method for blade pitch modulation to control rotor speed at high wind speeds. Through Lyapunov stability analysis, we prove stability of the equilibria in the presence of the two independently functioning torque- and pitch-control feedback loops. Simulation results are presented and the controller is compared with existing works from the literature.


Author(s):  
Jared B. Garrison ◽  
Michael E. Webber

Currently, wind and solar technologies only generate 0.77% and 0.014% of the U.S. electricity consumption, respectively [1]. Though only a small portion of total U.S. electricity production, both sources have seen significant growth recently. For instance, Texas has more than quadrupled its installed wind capacity over the period from 2005–2009 with new installations totaling over 9400 MW [2, 3]. These two resources are globally available and have the potential to generate massive amounts of electricity. As the amount of installed wind turbines continues to grow, gaining better knowledge of their operation and their dynamic response to changing wind conditions is important to ensure their smooth integration and safe operation. The goal of this research is to analyze the dynamic and steady state operations of a 1.5 MW variable speed wind turbine that uses an external rotor resistive control mechanism. The addition of the external generator rotor resistance allows for adjustment of the generator slip and employs a feedback controller that maintains constant power output at all air velocities between the rated wind speed and cut-out wind speed. Using the electronic programming language PSCAD/EMTDC the model simulates the dynamic response to changing wind conditions, as well as the performance under all wind conditions. The first task of the model was to determine which blade pitch angle produces a maximum power output of 1.5 MW. A sweep was used where the simulation runs over the entire range of wind speeds for a selected pitch angle to find which speed resulted in maximum power output. This sweep was used for numerous blade pitch angles until the combination of wind speed and pitch angle at 14.4 m/s and −0.663°, respectively, resulted in a maximum power of 1.5 MW. The second task was to evaluate the model’s dynamic response to changes in wind conditions as well as steady state operation over all wind speeds. The dynamic response to an increase or decrease in wind speed is important to the safety and life expectancy of a wind turbine because unwanted spikes and dips can occur that increase stresses in the wind turbine and possibly lead to failure. In order to minimize these transient effects, multiple controllers were implemented in order to test each ones’ dynamic response to increasing and decreasing changes in wind velocity. These simulations modeled the characteristics of a variable-speed wind turbine with constant power rotor resistive control. First, through calibrating the model the design specifications of blade pitch and wind speed which yield the peak desired output of 1.5 MW were determined. Then, using the method of controlling the external rotor resistance, the simulation was able to maintain the 1.5 MW power output for all wind speeds between the rated and cutout speeds. Also, by using multiple controllers, the dynamic response of the control scheme was improved by reducing the magnitude of the initial response and convergence time that results from changes in wind speed. Finally, by allowing the simulation to converge at each wind speed, the steady state operation, including generator power output and resistive thermal losses, was characterized for all wind speeds.


2006 ◽  
Vol 128 (4) ◽  
pp. 516-530 ◽  
Author(s):  
B. Boukhezzar ◽  
H. Siguerdidjane ◽  
M. Maureen Hand

To maximize wind power extraction, a variable-speed wind turbine (VSWT) should operate as close as possible to its optimal power coefficient. The generator torque is used as a control input to improve wind energy capture by forcing the wind turbine (WT) to stay close to the maximum energy point. In general, current control techniques do not take into account the dynamical and stochastic aspect of both turbine and wind, leading to significant power losses. In addition, they are not robust with respect to disturbances. In order to address these weaknesses, a nonlinear approach, without wind speed measurement for VSWT control, is proposed. Nonlinear static and dynamic state feedback controllers with wind speed estimator are then derived. The controllers were tested with a WT simple mathematical model and are validated with an aeroelastic wind turbine simulator in the presence of disturbances and measurement noise. The results have shown better performance in comparison with existing controllers.


Author(s):  
Xiangming Xue ◽  
Yiming Bu ◽  
Bei Lu

For variable-speed wind energy conversion systems, control objectives may be different in partial and full load regions (or in low and high wind speed regions). Typical control objectives are to maximize the energy capture at low wind speeds, and to maintain the generated power and the rotational turbine speed within safety limits at high wind speeds. In such a case, it is difficult to design a single robust controller covering both partial load and full load conditions. This paper presents a systematic switching control method for a variable-speed variable-pitch wind turbine over a wide wind speed region. The whole framework is based on the linear parameter-varying (LPV) control theory, which is an extension of robust control for linear systems to nonlinear ones. Two LPV controllers are designed, each suitable in a different wind speed region. A hysteresis switching logic is applied to guarantee the stability when the switching event occurs between the two controllers. Nonlinear simulations are conducted to demonstrate the proposed control scheme.


2010 ◽  
Vol 28 (5) ◽  
pp. 1043-1052 ◽  
Author(s):  
R. J. Barthelmie ◽  
A. M. Sempreviva ◽  
S. C. Pryor

Abstract. Wind energy developments offshore focus on larger turbines to keep the relative cost of the foundation per MW of installed capacity low. Hence typical wind turbine hub-heights are extending to 100 m and potentially beyond. However, measurements to these heights are not usually available, requiring extrapolation from lower measurements. With humid conditions and low mechanical turbulence offshore, deviations from the traditional logarithmic wind speed profile become significant and stability corrections are required. This research focuses on quantifying the effect of humidity fluxes on stability corrected wind speed profiles. The effect on wind speed profiles is found to be important in stable conditions where including humidity fluxes forces conditions towards neutral. Our results show that excluding humidity fluxes leads to average predicted wind speeds at 150 m from 10 m which are up to 4% higher than if humidity fluxes are included, and the results are not very sensitive to the method selected to estimate humidity fluxes.


2007 ◽  
Vol 31 (5) ◽  
pp. 341-352 ◽  
Author(s):  
Yigang Kong ◽  
Zhixin Wang

Modern wind turbines are controlled in varying wind speed by blade pitching for power control. To satisfy the requirement of large driving forces and torques, fast response and high stiffness, hydraulic technology is usually used in the variable-pitch mechanism. The model of the hydraulic variable-pitch mechanism (HVPM) is simplified by a first-order inertia system in most literature. This simplified representation neglects the actual characteristics of the HVPM, and it is not precise and reasonable. Therefore, HVPM modelling is implemented and analyzed in this paper. Simulation results show that consequently the variable-speed wind turbine performs well at above-rated wind speeds.


Author(s):  
S. G. Ignatiev ◽  
S. V. Kiseleva

Optimization of the autonomous wind-diesel plants composition and of their power for guaranteed energy supply, despite the long history of research, the diversity of approaches and methods, is an urgent problem. In this paper, a detailed analysis of the wind energy characteristics is proposed to shape an autonomous power system for a guaranteed power supply with predominance wind energy. The analysis was carried out on the basis of wind speed measurements in the south of the European part of Russia during 8 months at different heights with a discreteness of 10 minutes. As a result, we have obtained a sequence of average daily wind speeds and the sequences constructed by arbitrary variations in the distribution of average daily wind speeds in this interval. These sequences have been used to calculate energy balances in systems (wind turbines + diesel generator + consumer with constant and limited daily energy demand) and (wind turbines + diesel generator + consumer with constant and limited daily energy demand + energy storage). In order to maximize the use of wind energy, the wind turbine integrally for the period in question is assumed to produce the required amount of energy. For the generality of consideration, we have introduced the relative values of the required energy, relative energy produced by the wind turbine and the diesel generator and relative storage capacity by normalizing them to the swept area of the wind wheel. The paper shows the effect of the average wind speed over the period on the energy characteristics of the system (wind turbine + diesel generator + consumer). It was found that the wind turbine energy produced, wind turbine energy used by the consumer, fuel consumption, and fuel economy depend (close to cubic dependence) upon the specified average wind speed. It was found that, for the same system with a limited amount of required energy and high average wind speed over the period, the wind turbines with lower generator power and smaller wind wheel radius use wind energy more efficiently than the wind turbines with higher generator power and larger wind wheel radius at less average wind speed. For the system (wind turbine + diesel generator + energy storage + consumer) with increasing average speed for a given amount of energy required, which in general is covered by the energy production of wind turbines for the period, the maximum size capacity of the storage device decreases. With decreasing the energy storage capacity, the influence of the random nature of the change in wind speed decreases, and at some values of the relative capacity, it can be neglected.


2016 ◽  
Vol 63 (12) ◽  
pp. 7754-7764 ◽  
Author(s):  
Dan-Yong Li ◽  
Wen-Chuan Cai ◽  
Peng Li ◽  
Zi-Jun Jia ◽  
Hou-Jin Chen ◽  
...  

Wind Energy ◽  
2009 ◽  
Vol 12 (4) ◽  
pp. 348-362 ◽  
Author(s):  
Rozenn Wagner ◽  
Ioannis Antoniou ◽  
Søren M. Pedersen ◽  
Michael S. Courtney ◽  
Hans E. Jørgensen

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