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Aeolus Toolbox for Dynamics Wind Farm Model, Simulation and Control
Grunnet, Jacob Deleuran; Soltani, Mohsen; Knudsen, Torben; Kragelund, Martin Nygaard;
Bak, Thomas
Published in:
European Wind Energy Conference and Exhibition, EWEC 2010
Publication date:
2010
Document Version
Publisher's PDF, also known as Version of record
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1
can be used and the custom turbine models can 2.1 Scope
easily be added. The toolbox also includes an am-
bient wind field generator where mean wind speed, As the toolbox focuses on the control aspect of wind
turbulence intensity and grid resolution can be spec- farm design a number of limitations are imposed on
ified. the farm in order to simplify the simulation models.
The major limitations are listed below:
Furthermore a number of visualisation and post
processing tools are included to perform e.g. fatigue Constant mean wind speed The mean wind
analysis and wake animation. speed is constant throughout the simulation.
This paper presents the toolbox and the mod-
els used as well as a wind farm control example Constant mean wind direction The wind speed
demonstrating the use of the toolbox. The tool- direction is fixed with respect to the farm layout.
box is available at http://www.ict-aeolus.eu/ If another wind direction is wanted, a new sim-
SimWindFarm. ulation model must be generated with a rotated
An overview of the toolbox will be given in the layout.
next section, in section 3 the wind, wake and tur- 2D wind field The wind field is only generated in
bine models will be presented, section 5 gives an the hub height plane, currently no wind shear
example of a 10 turbine farm simulation and section or tower shadow effects are considered.
6 concludes the paper.
Fixed turbine yaw No yaw dynamics of the tur-
bines are considered as the wind direction does
2 Overview not change.
Turbine 1
work controller and grid models, which can be re- 150
2
P [W]
P P_meas [W]
P_dem [W]
P_dem [W]
V_meas [m/s]
V_nac_meas [m/s] V_meas [m/s] P_dem[W]
w_gen w_gen
[m/s] w_rot [rad/s]
V_rot [m/s]
V_rot [m/s]
Pitch [deg]
pitch Pitch [deg]
Aux
aux Aux P_avail [W]
V_nac [m/s]
V_nac [m/s] CT
CT P_farm_dem [W]
Wind Field
Grid
Network Load
Post processing
Figure 1: A screen shot of a SWF generated farm model showing the top-level structure of the simulation.
2.3 Turbines
3
Inputs Unit Description
Power demand W Power reference from the farm controller
m
Effective wind speed s
Averaged over rotor wind speed
m
Nacelle wind speed s
The wind speed at the nacelle grid point
Outputs
Produced power W Power produced by the turbine
Coefficient of thrust none Current turbine thrust coefficient
rad
Generator speed s
Generator shaft speed
m
Measured nacelle wind speed s
Nacelle wind speed as measured by the anemometer
Pitch angel deg Pitch angle sensor measurement
Main shaft torsion moment Nm The torsion moment of the rotor shaft (only for post proc.)
Tower bending moment Nm The tower root bending moment (only for post proc.)
Auxiliary outputs none User defined outputs
can be added e.g. tower acceleration or LIDAR In SWF both models assume Taylor’s frozen tur-
measurements. bulence hypothesis for inviscid flow[12] to be true.
This greatly simplifies the effort of generating an am-
bient wind field, and provides relatively simple equa-
2.4 Post processing
tions for the wake effect models.
As part of the toolbox a number of post process-
ing tools are available to guide the control de- 3.1.1 Ambient wind field
signer. Foremost is the fatigue tool which is based
on MCrunch[11]. It can compute rainflow counts The ambient wind in a wind farm is usually described
and damage equivalent loads for tower bending and by spectral matrices describing the wind speed vari-
main shaft torsion, such that the fatigue load of dif- ation at a number of points in the wind farm and their
ferent farm control strategies can be evaluated. relation using the method described in [9].
Secondly there are two visualisation tools; one The wind model assumes a constant mean wind
shows wake meandering and merging at a turbine speed and a zero lateral mean wind speed, i.e. the
to visualise the effect of multiple upstream wakes mean wind direction is constant in the longitudinal
reaching the turbine rotor. The other provides an direction.
animation of the wind field including wake effects, It would therefore be natural to implement a wind
which can be used to judge interactions between the field simulation as a number of stochastic pro-
ambient wind field and the wake effects in the farm. cesses, one for each point. However due to the
frozen turbulence assumption it is only necessary
to simulate stochastic processes in the first line in
3 Models the lateral direction in the park. These velocities
are then assumed to travel with the average wind
This sections describes the models employed by speed in the longitudinal direction. In this way the
SWF, but focuses on the wind and turbines blocks wind speeds at downwind grid points will eventually
as they are the most significant contribution of the be generated.
simulator package. The wind field is generated according to the rec-
ommendations in IEC 61400-3 concerning offshore
turbines, which state that for non-site specific wind
3.1 Wind field modelling conditions the parameter values in IEC 61400-1
The wind simulation and modelling can be divided (2005) can be used.
into an ambient field model, which describes the The spectrum used is the Kaimal spectrum
wind field if no turbines where present and a wake
4 LUk
model which describes the turbines effect on the Sk (f ) = σk2 5
(1)
ambient wind field. (1 + 6f LUk ) 3
4
where Lk is velocity component integral scale pa-
rameter, f is the frequency in Hertz, k denotes the
velocity component, U is the hub height mean wind
speed and σk is the variance determined by the tur-
bulence intensity, Ti , given by
σx = Ti ( 34 U + 5.6) (2)
σy = 0.8σx (3)
5
required by the turbine model are the wind speed
Table 2: Main properties for NREL 5-MW turbine at the nacelle, the average wind speed over the ro-
Rated power 5MW tor area (effective wind speed), and the power ref-
Configuration Upwind, 3 Blades erence supplied by the farm controller. The outputs
Control Variable speed, collective pitch available to the farm controller are produced power,
Wind measured generator speed, nacelle wind speed,
Cut-in 3 ms and blade pitch angle.
Rated 11.4 ms
Cut-Out 25 ms
Rotor Table 3: Turbine variables
Cut-in 6.9rpm Ω rotor speed
Rated 12.1rpm ω generator speed
diameter 126m β pitch angle
Hub Mshaft main shaft torque
Diameter 3m Mgen generator torque
Height 90m Ftow tower thrust
Pdem power demand
Pref generator power reference
speed, over the wake area, βref pitch angle reference
Vnac nacelle wind speed
Wi (d, tk −1 ) = {(x, y )|x = d ∧ y ∈ Wy }
Vrot average wind speed over the rotor
Wy = [wi (d, tk −1 ) − ei (d); wi (d, tk −1 ) + ei (d)] (8) VE effective wind speed
wi (d, tk ) = wi (d, tk −1 ) + v̄y,i (d, Wi (d, tk −1 )) (9) Vmeas measured wind speed
βmeas measured pitch angle
where wi (d, tk ) is the wake center at time k, Pmeas measured produced power
Wi (d, tk −1 ) is the wake area distance d from the tur- ωmeas measured generator speed
bine at time tk −1 and v̄y,i (d, Wi (d, tk −1 )) is the aver-
age lateral wind speed over the wake area. The aerodynamics of the turbine can be de-
Using equations (7),(6) and (9) it is possible to cal- scribed using two static relationships (11) and (12).
culate the wake contributions for each turbine and
this enables us to calculate the actual wind speed at 3
Mshaft = 21 vrot ρACP (λ, β )Ω−1 (11)
any point in the farm as 1 2
Ftow = v ρACT (λ, β )
2 rot
(12)
vx (x, y ) = ux (x, y )Πi ∈I ai (di ) (10)
where CP and CT are two look-up tables derived
where I contains the indices of all turbines where the from the geometry of the blades with inputs tip
point (x, y ) is in its wake area, y ∈ Wi (x − Px,i ), with speed ration (λ = Rvrotω ) and pitch angle. The param-
Px,i being the longitudinal position of the i’th turbine. eters are air density, ρ, and rotor disc area, A.
The 3rd order drive train model is based on two
3.2 NREL Turbine Model rotating shafts connected through a gearbox with
torsion spring constant Kshaft , viscous friction Bshaft ,
The NREL 5MW simulation model used in SimWind- and gear ratio N.
Farm is a simplified aeroelastic model based on
1
lookup tables for the aerodynamics (CP /CT ), a sim- Ω̇ = Irot
Mshaft − φKshaft − φ̇Bshaft (13)
ple 3rd order drive train model, a 1st order genera- 1 1
ω̇ = Igen
−Mgen + N
(φKshaft + φ̇Bshaft ) (14)
tor model, 1st order pitch actuator, and a 2nd order
1
tower dynamics. The main properties of the turbine φ̇ = Ω − N
ω (15)
can be seen in table 2.
The turbines are controlled using the control strat- where φ is the shaft torsion angle and Igen /Irot are
egy from[10] which includes a simplified start up pro- the inertias of the generator and rotor respectively.
cedure and pitch control for full load operation. In the baseline NREL 5MW turbine there is no
Figure 5 illustrates the structure of the NREL generator model, but a simple 1st order model is in-
5MW with variables explained in table 3. The inputs cluded in this benchmark, with input Pref and time
6
Figure 5: Block diagram of the Simulation model of the NREL 5MW virtual turbine. The blue ovals marks
input, green output, and yellow feedback.
x 10
6 Control Region 1 look−up table
constant τgen 6 Power reference
Rated Power
5
1 Pref
Ṁgen = τgen ω − Mgen (16) 4
Power [W] 3
ing Btow
Figure 6: Power/generator-speed relationship in
1
z̈ = mtow
(Ftow − Ktow z − Btow ż) (17) control region 1.
7
4 Farm Controller proportional gain control being used in the simple
network operator implementation. Adding an inte-
The example farm controller distributes the power gral term to the controller should remove the steady
demands to the turbines proportionally to the avail- state error, but as the frequency control is not the
able power of each turbine focus of this paper, this is left as an exercise to the
toolbox user.
3
Pa,i = 21 ρAvmeas,i Cp,max (22)
X Grid frequency
Pa = Pa,i (23)
50.2
frequency [Hz]
50
turbine.
The power can be distributed according to the 49.9
farm power demand, Pd , as
Pa,i 49.8
Pd,i = Pd Pa
(24)
49.7
with Pd,i being the power demand sent to the i’th
turbine. 200 400 600 800
Time [s]
Available power
wt5 wt6 wt7
2.5
Wind
D3
D2
2
Power [W]
1.5
D1 D1 D1
arrow. D1 is 600m, D2 is 500m and D3 is 300m 100 200 300 400 500
Time [s]
600 700 800 900 1000
8
10 shows the longitudinal wind speeds in the wind 2
10
Binned Cycles of Fatigue
8.5
ICT project Aeolus which is part of the 7th frame
program.
8 Thanks goes to all of the Aeolus project partners,
for their input and contributions to the toolbox.
7.5
References
7
0 1 2 3 4 5
Turbine number
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Figure 11: Average wind speed at turbines 1 to 4.
2005.
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24(EN).
6 Conclusion
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9
Figure 10: Evolution of the wind field including wakes.
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10