CLBottasso Short Course PartII Wind Turbine Control

Short Course on Wind Turbine Modeling and Control
- Part II: Control C.L. Bottasso C.L. Bottasso Politecnico di Milano Politecnico di Milano Milano, Italy Milano, Italy
POLItecnico di MIlano
Korea Institute of Machinery and Materials Korea Institute of Machinery and Materials & & Kangwon National University Kangwon National University October 18-19, 2007 October 18-19, 2007
Control System Architecture
Control System Architecture

Wind farm Wind farm supervisor supervisor Sensors Sensors Wind turbine Actuators Actuators
Positions, speeds, Positions, speeds, accelerations, stresses, accelerations, stresses, strains, temperature, strains, temperature, electrical & fluid electrical & fluid characteristics, etc. characteristics, etc.
Actuator control Actuator control system system
Wind Turbine Control
Supervisor Supervisor
Choice of operating condition: Choice of operating condition: Start up Start up Power production Power production Emergency shut-down Emergency shut-down Communication and reporting Communication and reporting
Observers Observers
Wind, tower & blades Wind, tower & blades
Active control Active control system system

Control strategy Control strategy
POLITECNICO di MILANO
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Supervisory Control System

Main tasks: tasks
Operational managing and monitoring Diagnostics, safety Communication, reporting and data logging
Main input data: data

Wind speed Rotor speed Blade pitch Electrical power Temperatures in critical area Accelerations but also Stresses, strains (blades, tower) Position, speed (yaw, blade, actuators, teetering angle, rotor tilt, ) Fluid properties and levels Electrical systems (voltages, grid characteristics, ) Icing conditions, humidity, lighting,
Operational states: states
Idling Start Up Normal power production Normal shut down Emergency shut down
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Supervisory Control System

Representative operational state monitoring logic: Idling Idling Start up Start up Power Power production production
V > V cut-in V > V cut-in
RPM > cut-in RPM > cut-in
Emergency Emergency shut down shut down
Failures Failures Overspeed & high rotor accel. Overspeed & high rotor accel. Vibrations Vibrations
Normal shut down Normal shut down

V < V cut-in V < V cut-in
V > V cut-off V > V cut-off
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Control Strategies
Control Strategies
Basic wind turbine control strategies and power curves: curves Constant TSR strategy Constant rotor speed strategy Below and above rated speed control Variable speed pitch-torque regulated wind turbine Stall and yaw/tilt control
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Control Strategies
Power coefficient:
CP =
P 1/2AV 3
CP = CP (, , Re, M )
Tip speed ratio (TSR): =

0.50 0.45
R V
CP
0.40
= const.
0.35
CP
0.30
0.25
0.20
0.15
0.10
0.05
0.00 0 2 4 6 8
10 12 14 16 18 20
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Control Strategies
Constant rotor speed: = const. = Direct grid connection: speed
0.50
0.45
CP
R V =
Generator provides whatever torque required to operate at or near given angular speed
0.40
CP
0.50
0.45
0.40
0.35
0.35
0.30
0.25
0.20
CP
0.15
0.30
0.10
0.05
0.00 0 2 4 6 8 10 12 14 16 18 20
0.25
max = const.
0.20
0.15
0.10
0.05
V = R/ Vaero cut in = R/max < Vcut in
0.00
V
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Control Strategies
Constant TSR: = const. = TSR Indirect grid connection:
Through power electronic converter Allows for rapid control of generator torque
V = R =
V Vr (const. )
P = Wind Turbine Control
1 AV 3 CP 2
Constant TSR strategy
V, CP (const. ) CP (const. ) = const. =
Constant rotor speed strategy
V
POLITECNICO di MILANO DIA
Control Strategies
Power-wind speed curve: curve
P Pr
Constant TSR strategy (cubic)
Constant rotor speed strategy
= Wind Turbine Control

Power deficit for constant speed wrt constant TSR
= const. Vaero cut in (const. ) Vaero cut in (const. ) Vr (const. ) Vr (const. )

V
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Control Strategies
P =
Constant rotor speed strategy 2 vs. strategy 1: 1 Higher cut in speed Lower wind speed to reach rated power Smaller power deficit
V Wind Turbine Control P 1 2 P =
= 1
V
= 2
V
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Control Strategies
Annual energy yield: E = Y
Vout
P (V )fw dV
Vin
= 1 fw V
Constant rotor speed strategy 2 vs. strategy 1: Smaller power deficit wrt to constant TSR, but at improbable wind speeds Higher energy yield
Weibull distribution
fw = 2 = 1 = 2 V V
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Control Strategies
Control above rated speed: V > Vr speed
CP
0.50
0.45
CP
0.40
1 P = Pr = AV 3 CP (, ) = const. 2 = = const. P = const. T =

Constant power constant rotor speed curve (cubic)
0.35
0.30
CP = CP
0.25
0.20
0.15
R = V
0 2 4 6 8
0.10
0.05
0.00
10
12
14
16
18
20
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Control Strategies
Variable-speed pitch/torque regulated wind turbine: turbine
Below rated speed: torque control
Above rated speed: pitch control
0.50 0.45 0.40
P Pr T Wind Turbine Control = Vcut in

Region 1
CP
0 2 4 6 8 10 12 14 16
0.35
0.30
0.25
0.20
0.15
0.10
Vr
0.05
0.00
18 20
T = Pr /
T = 1/2ARV 2 CP /
Often, smoothing for milder transition between regions
Vr
Vcut out
V = V /R
Vr
No torque to promote rotor acceleration
Region 2 - below rated Region 3 - above rated speed: constant power speed: constant TSR strategy strategy
Vr
V
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Control Strategies
Variable-speed passive-stall/torque regulated wind turbine: turbine
Below rated speed: torque control
Above rated speed: torque-stall control
P Pr = Wind Turbine Control
Stall region, high dispersion
Vr T = Pr /
Vr
Below rated speed: constant TSR strategy Above rated speed: (roughly) constant power strategy
Vr V = V /R Vr
V
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Control Strategies
V
Constant-speed passive-regulation wind turbine:
Below rated speed: Above rated speed: (roughly) constant constant rotor power strategy speed strategy
Rotor disk
V cos
Below rated speed: Above rated speed: yaw or tilt rotor to constant rotor reduce effective wind speed strategy
P Wind Turbine Control Pr = = Vr

Stall regulation
P
Stall region, high dispersion
Pr = =
Vr
Yaw/tilt out-of-the-wind regulation
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Control Strategies
Further wind turbine control goals: goals Fatigue damage reduction in turbulent wind Gust load alleviation Disturbance rejection Resonance avoidance Actuator duty cycle reduction Periodic disturbance reduction (gravity, wind shear, tower shadow, ) Usually, these goals should be achieved together with the basic control strategies deriving from the power curves, i.e. Region 2: maximize energy capture Region 3: limit output power to rated value
Orient the rotor in line with the wind field to increase power
Note: some small wind turbine will also yaw out of the wind to reduce loads in high winds
Yaw Control
Passive or free yaw, used in small wind turbines:
Tail fin
Downwind rotor
Active yaw:
- If V < V - If V > V
cut in
= no action
cut in:
- Compute yaw error averaging over window (typically tens of sec.s) to reduce duty cycle - Region 2 = realign if yaw error > yaw threshold2 (typically ~15 deg) - Region 3 = realign if yaw error > yaw threshold3 (typically ~8 deg) - Realign at low yaw rate to reduce gyroscopic loads - If yaw error < small threshold (typically a fraction of a deg), engage yaw brake to eliminate backlash between drive pinion and bull gear
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Reduced Models
Reduced Models for Model-Based Controllers

Non-linear collective-only reduced model:
e c Fa Telc Tele MT , CT , KT Ta JR d
Equations: Equations
Drive-train shaft dynamics Elastic tower fore-aft motion Blade pitch actuator dynamics Electrical generator dynamics
JG Wind Turbine Control Tl
States: d, d, , e , e , Tele States

Inputs: c , Telc Inputs

Equations of motion: motion
(JR + JG ) + Tl () + Tele Ta (, e , Vw d, Vm ) MT d + CT d + KT d Fa (, e , Vw d, Vm ) e + 2e + 2 (e c ) 1 Tele + (Tele Telc ) Tip speed ratio: = R/(Vw d)

Wind:
=0 =0 =0 =0
Vw = Vm + Vt (mean wind + turbulence)
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Rotor force and moment coefficients: coefficients

Ta =
1 CP (, e , Vm ) R3 e (Vw d)2 2 1 Fa = R2 CFe (, e , Vm )(Vw d)2 2 CFe (, e , Vm ), CPe (, e , Vm ) computed off-line with CpLambda aeroservo-elastic model, averaging periodic response over one rotor rev
Stored in look-up tables
Dependence of CFe (, e , Vm ) and CPe (, e , Vm ) on mean wind Vm

accounts for deformability of tower and blades under high winds:
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Example: individual-pitch model Example
Blade
Equivalent shaft stiffness

Torque actuator
Telc
Nacelle inertia Yaw actuator
States: States
3 flap angles (or blade modal amplitudes) Rotor azimuth Shaft torsion
Pitch actuator
c1
Generator
c2 c3
Tower
3 tower angles (fore-aft, side-side, torsion) (or tower modal amplitudes) Yaw angle (and their rates) Equivalent flap hinge and spring
Inputs: c1 , c2 , c3 , Telc Inputs
Rigid body Beam Revolute joint Actuator Boundary condition Equivalent tower stiffnesses
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Model linearization: needed for implementation of controllers linearization (e.g. LQR) and model-based observers (e.g. Kalman filter)
x = f (x, u, p) P Wind Turbine Control
x = A(x , u , p )x + B(x , u , p )u x = x x u = u u T
Possible approaches: Analytical
V
Linearization trim points
V x u p
Automated (e.g. Maple, or directly from software using Automatic Differentiation tools like ADOL-C, ADIC, etc.) Numerical, by finite differences
Observers
Tower State Observer

Kalman modal-based tower observer: observer Accelerations: Curvatures:
q v
= v = (T )1 T (a + nw )
Accelerometer
Unknown modal amplitudes: Modal bases:
c = 00 q nv q
Process & measurement noise: nw , nv Remarks: Remarks

Fore-aft and side-side identification
Strain gage
Multiple modal ampl. (sensor number and position for observability) Formulation applicable also to identification of flap-lag blade states

State space form:
x = Ax + Bu + W nw y = Cx + Du + V nv
with
Optimal Kalman state estimate: Filter gain matrix Kk
x = (q T , v T )T u = a y = c 00 0 I 0 0 A= B= C= 0 0 0 W = V = I
xk = x + Kk (yk yk ) k
D=
Propagated states and outputs based on accelerometric reading: x , yk k
Curvature reading: yk

Tower tip velocity estimation:
Filter warm-up
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Kalman modal-based tower and blade state observer: observer Compute or measure modal bases for blades and tower Integrate tower kinematic equations from accelerations Correct with tower strain gage curvature readings Integrate blade kinematic equations from blade and tower accelerations Correct with blade strain gage curvature readings
Strain gages Accelerometers
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Wind Observer
Anemometer: Cup, but also laser, ultrasonic, etc. Measurements highly inaccurate because of Rotor wake Wake turbulence Nacelle disturbance Sufficient accuracy for supervision tasks and yaw alignment Not sufficient for sophisticated control law implementation Need ways to reconstruct wind blowing on rotor from reliable measurements (pitch setting, rotor speed, etc.)
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Wind Observer
Extended Kalman wind observer: observer Wind equation:
Vw = nw
Output measurement torque-balance equation: Non-linear state-space form:
y = (JR + JG ) + Tl () + Tele Ta (, e , Vw d, Vm ) + nv x = f (x, u, nw ) y = h(x, u, nv )
with x = Vw
u = (, , e , d, Vm )T
y Extended Kalman estimate xk = xk + Kk (k yk )
with measured output yk = 0 to enforce torque-balance equation Mean wind Vm reconstructed with moving average on 10 sec window
Wind Observer
Hub wind estimation:
Turbulent wind (Vm = 15 m/sec)
EOG1-13 case
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Wind Observer
Simple mean hub wind reconstruction from torque balance equation More in general: The rotor system is a sensor which responds to temporal as well as spatial wind variations
Model-based interpretation of response can be used for reconstructing vertical and horizontal wind shear for improved rotor control Example: introduce spatial assumed modes and wind states
V (t, ) = V0 (t) + Vs (t) sin + Vc (t) cos

Rotor disk
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Simulation Environment
Control Laws: Virtual Testing Environment

Linux real-time environment
Measurement noise Wind generator
Process noise
Virtual plant
CpLambda aero-servoelastic model
Sensor models
Controller Supervisor
Choice of operating condition: Start up Power production Normal shut-down Emergency shut-down
Kalman filtering
Wind & tower/blade state estimation
Feedback controller
PID MIMO LQR RAPC Adaptive reduced model
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Control Laws
Control Laws: Three Case Studies
Case studies: studies PID: gain optimization and wind scheduling LQR: handling region 2-3 transition and wind scheduling Adaptive non-linear predictive control A simple LQR approach to cyclic pitch control
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Control Laws: Optimal PID

Optimal wind-scheduled PID: PID
c = Kp (Vm )( ) + Ki (Vm ) Telc = Telc () Wind Turbine Control

Tabulated electrical torque Optimization of gains
t tTi
( )d + Kd (Vm )
Kp (Vm ), Ki (Vm ), Kd (Vm )

based on aeroelastic analyses in CpLambda
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Gain optimization procedure: procedure For each mean wind Vm in region 3, define cost function
Equivalent fatigue loads for tower and blades MeqT , MeqBi based on rain-flow analysis (ASTM E 1049-85):
J(Vm ) = MeqT + MeqBi=(1,3) +

600 sec
2 + w d2 + w ( )2 + wP (P P )2 dt w e d X
i
Meq =
m Mf,i Ni /Ntot
!1/m
Tunable weighting factors: w , wd , w , wP
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PID gain optimization procedure (continued): For each mean wind Vm :
Regard cost as sole function of unknown gains J(Vm ) = J(Kp (Vm ), Ki (Vm ), Kd (Vm )) Minimize cost (using Noesis Optimus): Wind Turbine Control
Evaluate cost with CpLambda aero-servo-elastic model Global optimization (GA) Local refinement (Response Surface + gradient based minimization) Optimizer
Global & local algorithms Functional approximators
Kp (Vm ), Ki (Vm ), Kd (Vm )
CpLambda
Aeroelastic response in turbulent wind for given gains
(possible constraints)
J(Vm )
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Control Laws: MIMO NonLinear-Wind LQR

Wind-scheduled MIMO LQR: LQR
Reduced model in compact form: x = f (x, u, Vw , Vm ) where x = (d, d, , e , e , Tele )T u = (c , Telc )T Wind parameterized linear model: x = A(Vw , Vm )x + B(Vw , Vm )u Wind Turbine Control
where x = x x (Vm ) Remarks: Remarks Model linearized about current mean wind estimate Vm Non-linear dependence on instantaneous turbulent wind Vw Wind not treated as linear disturbance (as commonly done)
u = u u (Vm )

Wind-scheduled MIMO LQR (continued):
1 Regulation cost: J = 2
T T x Qx + u Ru dt
where x = x x (Vm ), u = u u (Vm )
MIMO formulation: tracking quantities x (Vm ), u (Vm ) for reg. 2 & 3:
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Wind-scheduled MIMO LQR (continued):
Closed loop controller: Wind Turbine Control

with Kalman estimated states and wind
u = K(Vw , Vm )(x x (Vm ))
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Control Laws: NonLinear Adaptive Ctrl.

Design controller which: Can handle non-linearities of plant Is adaptive: adaptive - Can adjust to off-design conditions (e.g. ice accretion, specifics of installation, hot-cold air variations, etc.)
- Can correct for unmodeled or unresolved physics and modeling errors Can handle constraints (e.g. max loads in blades or tower) Can be implemented in real-time (no iterative scheme, fixed number of operations per activation)
Non-linear model-adaptive predictive control


Non-linear Model Predictive Control (NMPC): Find the control action which minimizes an index of performance, by predicting the future behavior of the plant using a non-linear reduced model. model
u,x,y
min J =
- Reduced model:
- Initial conditions: - Output definition: Cost:
s.t.: f (x, x, u) = 0 t [t0 , t0 + Tp ] x(t0 ) = x0 y = g(x) t [t0 , t0 + Tp ]
t0 +Tp
L(y, u) dt
t0
with () desired goal outputs and controls.
L(y, u) = (y y )T Q(y y ) + (u u )T R(u u )
Stability results: Findeisen et al. 2003, Grimm et al. 2005. results


Past t0 Future
Goal response x (t) Predicted response x(t)
State tracking error x0 Wind Turbine Control
Prediction error e Plant response x(t) Goal control u (t) Computed control u(t)
Control tracking error Steering window t0 + Ts t0

Prediction window
t0 + Tp
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Predictive model-adaptive control: control
Prediction window Prediction window Tracking cost Tracking cost Prediction window Tracking cost
Prediction error Prediction error Steering window window Steering Prediction error Past Past Past Future Future Future Steering window Plant response Past
Goal response
Past Future Future
Predictive solutions
1. Tracking problem 2. Steering problem 3. Reduced model update Reduced model adaption:
Predict plant response with minimum error (same outputs when same inputs) Self-adaptive (learning) model adjusts to varying operating conditions (ice, air density, terrain, etc.)
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RAPC: Motivation
For any given problem: wealth of knowledge and legacy methods which perform reasonably well Quest for better performance/improved capabilities: undesirable and wasteful to neglect valuable existing knowledge Reference Augmented Predictive Control (RAPC): exploit available RAPC legacy methods, embedding them in a non-linear model predictive adaptive control framework Specifically: Model: augment reduced models to account for unresolved or Model unmodeled physics Control: design a non-linear controller augmenting linear ones Control (MIMO Nonlinear-Wind LQR) which are known to provide a minimum level of performance about certain linearized operating conditions
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RAPC: Motivation
Approach: Choose a reference model / reference control law Augment the reference using an adaptive parametric function Adjust the function parameters to ensure good approximation of the actual system / optimal control law (parameter identification)
Reasons for using a reference model / control: control Reasonable predictions / controls even before any learning has taken place (otherwise would need extensive pre-training) Easier and faster adaption: the defect is typically a small quantity, quantity if the reference solution is well chosen
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The principle of reference model augmentation: augmentation
RAPC: Reduced Model Identification

u, Vw
Same wind, same inputs
u, Vw
Same wind, same inputs
u, Vw
e x
Reduced model Plant Augmented reduced model
+ Neural Network Trained on-line to minimize mismatch
Dissimilar outputs
e x
Similar outputs
x
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e c
Neural augmented reference model: model reference (problem dependent) analytical model,
JG Telc Tele MT , CT , KT Tl Ta JR
Fa
fref (x, x, u) = 0
Reference reduced model
Remark: reference model will not, in general, ensure adequate Remark not predictions, i.e.
Augmented reference model:
e e x 6= x when u = u,
e e x, u = system states/controls, x, u = model states/controls.
fref (x, x, u) = d(x, u)

where d is the unknown reference model defect that ensures Hence, if we knew d , we would have perfect prediction capabilities.
e e x = x when u = u i.e.: fref (x, x, u) d(e, u) = 0 e e e x e

Approximate d with single-hidden-layer neural networks: networks
d(x, u) = dp (x, u, pm ) +
where
dp (x, u, pm ) = Wm T (Vm T i + am ) + bm
and
= functional reconstruction error; Wind Turbine Control Wm , Vm , am , bm = matrices of synaptic weights and biases; () = ((1 ), . . . , (Nn ))T = sigmoid activation functions; i = (xT , uT )T = network input.
The reduced model parameters
pm = (. . . , Wmik , Vmik , ami , bmi , . . .)T

are identified on-line using an Extended Kalman Filter. Filter

Tower-tip velocity for multibody, reference, and neural-augmented reference with same prescribed inputs:
Fast adaption
Red: reference model Black: CpLambda multibody model Blue: reference model +neural network
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Defect di and remaining reconstruction error i after adaption:
Red: defect
Blue: remaining reconstruction error
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RAPC: Neural Control

The principle of neural-augmented reference control: control
Past
t0
Future
Augmented sol. x(uref (t) + N N )
Goal response x (t) x(t), t < t0 x0 Goal control u (t) Optimal solution uNMPC (t) Sub-optimal solution uref (t) u(t), t < t0 t0
Optimal solution x(uNMPC (t)) Sub-optimal solution x(uref (t)) Augmented sol. uref (t) + N N
Prediction window
t0 + Tp
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Prediction problem: problem
u,x,y
min J =
s.t.: f (x, x, u) = 0 t [t0 , t0 + Tp ] x(t0 ) = x0 y = g(x) t [t0 , t0 + Tp ] f (x, x, u, pm ) = 0, t [t0 , t0 + Tp ], x(t0 ) = x0 , t [t0 , t0 + Tp ], t [t0 , t0 + Tp ].
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t0 +Tp
L(y, u) dt
t0
Enforcing optimality, we get: optimality Model equations: State initial conditions:
d(f,T ) x T T Adjoint equations: + f,x + y,x L,y = 0, dt Co-state final conditions: (t0 + Tp ) = 0,
Transversality conditions:
POLITECNICO di MILANO T L,u + f,u = 0,
It can be shown that minimizing control is u(t) = x0 , y (t), u (t), t

(Bottasso et al. 2007)

t0
Goal response x (t)
Past
Future
x(t), t < t0 x0
(, , , )
u(t)
Goal control u (t) Optimal control u(t)
u(t), t < t0 t0
Prediction window
t0 + Tp
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Reference augmented form:
Remark: if one knew (, , , ) , the optimal control would be available Remark without having to solve the open-loop optimal control problem.
where (, , , ) is the unknown control defect.
u(t) = uref (t) + x0 , y (t), u (t), t

Idea: Idea - Approximate (, , , ) using an adaptive parametric element: - Identify p (, , , ) on-line, i.e. find the parameters pc which minimize the reconstruction error .
x0 , y (t), u (t), t = p x0 , y (t), u (t), t, pc + c
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Iterative procedure to solve the problem in real-time: Integrate reduced model equations forward in time over the prediction window, using uref and the latest available parameters pc (state prediction):
f (x, x, u, pm ) = 0 t [t0 , t0 + Tp ] x(t0 ) = x0

Integrate adjoint equations backward in time (co-state prediction):
d(f,T ) x T + (f,x + uT f,u )T + y,x L,y + uT L,u = 0 t [t0 , t0 + Tp ] ,x ,x dt (t0 + Tp ) = 0 Correct control law parameters pc , e.g. using steepest descent: pc = J,pc
pnew = pold J,pc c c

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Remark: the parameter correction step Remark seeks to enforce the transversality condition
pc = J,pc
Once this is satisfied, the control is optimal, since the state and cooptimal state equations and the boundary conditions are satisfied. satisfied
t0 +Tp T T ,pc (L,u + f,u ) dt = 0
t0
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Past Tracking cost Past Future Future Target
x(t)
Prediction error
(t)
State
u(t) pc = J,pc
Optimal control Prediction horizon Steering window
Control
Predict control action Predict state forward Repeat Predict co-state backwards
Update estimate of control action, based on transversality violation Advance plant Update model, based on prediction error

- Drop dependence on time history of goal quantities: - Approximate temporal dependence using shape functions:
p x0 , y (t0 ), u (t0 ), , pc (1 ) pk x0 , y (t0 ), u (t0 ), pc + pk+1 x0 , y (t0 ), u (t0 ), pc Wind Turbine Control
- Associate each nodal value with the output of a single-hidden-layer feed-forward neural network, one for each component: network where Output: Input:
T oc = Wc (VcT ic + ac ) + bc T T T oc = (p0 , p1 , . . . , pM1 )T T T T T ic = x0 , x (t0 ), u (t0 )
p x0 , y (t), u (t), t, pc p x0 , y (t0 ), u (t0 ), t, pc
Control parameters: pc = (. . . , Wcij , . . . , Vcij , . . . , aci , . . . , bci , . . .)T


t0 Past
Future x (t0 ) x (t) NN pk
x(t), t < t0 x0 Wind Turbine Control u (t)
u (t0 )
u(t), t < t0 t0
Prediction window
t0 + Tp
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RAPC
RAPC can handle constraints on inputs and outputs (not covered in this paper) Present results: results
Reference model: collective-only, x = (d, d, , e , e , Tele )T Wind Turbine Control

Reference controller: MIMO Nonlinear-Wind LQR Work in progress: progress Reference model with individual blade pitch, flap dynamics Reference controller: periodic MIMO Nonlinear-Wind LQR Constraints on inputs and outputs
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Results
Two consecutive EOG1-13 in nominal conditions:
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Normalized total regulation error in 600 sec turbulent wind Cold air & ice accretion (degraded airfoil performance):
Results
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Results
Observations: Observations Significant advantage of model-based (especially non-linear and adaptive) controllers in - Turbulent off-design conditions - Strong gusts It appears that adaptive element is able to correct deficiencies of reference reduced model, even in the presence of large errors In nominal conditions, and for the collective pitch case: - Differences in turbulent response of PID, LQR and RAPC are less pronounced - It appears difficult to very significantly outperform a well tuned simple controller (PID)
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Cyclic Pitch Control

Case study: a simple LQR approach to cyclic pitch control study Consider individual-pitch model
x = f (x, u, p) = f (, x, u, p)
where
x = (, xT )T
= rotor azimuth x = all other states

Model linearization:
x = A(, x , u , p )x + B(, x , u , p )u
Remark: azimuth dependent coefficient matrices Remark

Possible approaches: approaches Full state feedback: a) Integrate Riccati eq. until periodic solution to obtain optimal periodic feedback gain matrix K(, x , p ) b) Solve steady Riccati eq. for several i , 0 i 2 then interpolate resulting gain matrices K(i , x , p )
c) Average periodic coefficient matrices over one revolution
Output feedback: a), b) or c), but governing eq. more complex than Riccati eq., approach a) complicated
c solve steady Riccati eq. to get averaged gain matrix K(x , p )

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b B(x , p ) = (1/2)
b A(x , p ) = (1/2)
Z0 2
0
A(, x , p ) d B(, x , p ) d
Full state feedback collective pitch vs. individual pitch LQR Steady wind, wind shear, tower shadow, rotor up-tilt
Observations: Observations Very similar behavior for a) and b) strategies, c) slightly worst Significant peak-to-peak reduction for cyclic control, at the cost of increased duty cycle
Hardware Implementation
Control System Hardware

Decentralized PC/PLC based architecture
Decentralized control module Ethernet Remote visualization CAN-Bus, RS485 Slip-ring or wireless bridge
Pitch regulator
Realtime fiber optic network (FAST-Bus, Profibus, Ethernet) Control panel
RIO PLC
= Reconfigurable I/O = Programmable Logic Controller
PROFIBUS = Process Field Bus CAN BUS = Controller Area Network RS485 = Serial communication
Main controller
Remote visualization
Ethernet
Wireless, ADSL
www access
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Connection to PoliMi PC/104 control research platform Programmable PC module, communication with external terminal
Control System Hardware

Digital I/O Analog I/O Communication with other devices, controller units Profibus
Data acquisition from sensors Tower and blade accelerometer Rotor speed encoder
[ www.bachmann.info]
Command to servos, pitch and yaw On-board cup anemometer
Vibration sensor
Tower and blade strain gauges
Generator and inverter
temperature, pressure, yaw, pitch,
DIA
PoliMi Control Research Platform

Hardware for supporting research and field testing on advanced control laws, state and wind estimators, integrated diagnostics
PLC-based decentralized control module cabinet
Leitwind 1.2 MW Wind Turbine Hub height 65m Rotor radius 38m PC/104 architecture, Pentium M 1.6 GHz Linux real-time operative system
DIA

Data acquisition module 16-bit A/D Versalogic Cheetah PC104 SBC with Intel Pentium M 1.6 GHz and Extreme Graphics 2 Video (-40 to +60C), 2 configurable serial ports, 1 Ethernet interface, 2 usb ports
Internal communication PC/104 bus
HE104 High Efficiency Power Supply 50 Watt, +5V@10A, +12V@2A, -40 to +85C
Hard disk 44 pin (replaceable with a solid state disk)
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From sensors: Anemometer, inverter, pitch regulator, yaw To servos: Pitch, yaw, torque setpoints Collect data, interface with servos, compute yaw control Torque Rotor speed Azimuth Blade pitch angle Wind
Serial communication RS485 @1Hz
Pitch control Torque control Complete compatibility with and minimum impact on existing on-board system Substantial computing power
Analog inputs:
Tower accelerations and strain gauges On-board system can give control to and regain control from research platform at any time
Controller and observer algorithms, interface with on-board industrial controller
DIA
References
Wind Turbines Part 1: Design Requirements, IEC 61400-1, 2005 Manwell J.F., McGowan J.G., and Rogers A.L., Wind Energy Explained: Theory, Design and Application, John Wiley & Sons, New York, NY, 2002 Burton T., Sharpe D., Jenkins N., and Bossanyi E., Wind Energy Handbook, John Wiley & Sons, New York, NY, 2001 Stol K.A., and Fingersh L.J., Wind Turbine Field Testing of State-Space Control Designs, NREL/SR500-35061, 2003 Findeisen R., Imland L., Allgower F., and Foss B., State and Output Feedback Nonlinear Model Predictive Control: An Overview, European Journal of Control, 9:190206, 2003 Fausett L., Fundamentals of Neural Networks, Prentice-Hall, New York, 1994
DIA

CLBottasso Short Course PartII Wind Turbine Control

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CLBottasso Short Course PartII Wind Turbine Control

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Short Course on Wind Turbine Modeling and Control

Control System Architecture

Control System Architecture

Actuator control Actuator control system system

Wind Turbine Control

Wind, tower & blades Wind, tower & blades

Active control Active control system system

Supervisory Control System

Main input data: data

Operational states: states

Wind Turbine Control

Supervisory Control System

V > V cut-in V > V cut-in

RPM > cut-in RPM > cut-in

Wind Turbine Control

Emergency Emergency shut down shut down

Normal shut down Normal shut down

V > V cut-off V > V cut-off

Wind Turbine Control

Tip speed ratio (TSR): =

Wind Turbine Control

Wind Turbine Control

V = R/ Vaero cut in = R/max < Vcut in

P = Wind Turbine Control

Constant TSR strategy

V, CP (const. ) CP (const. ) = const. =

Constant rotor speed strategy

Constant TSR strategy (cubic)

Constant rotor speed strategy

= Wind Turbine Control

= const. Vaero cut in (const. ) Vaero cut in (const. ) Vr (const. ) Vr (const. )

V Wind Turbine Control P 1 2 P =

Wind Turbine Control

1 P = Pr = AV 3 CP (, ) = const. 2 = = const. P = const. T =

Wind Turbine Control

Above rated speed: pitch control

0.50 0.45 0.40

P Pr T Wind Turbine Control = Vcut in

Often, smoothing for milder transition between regions

Above rated speed: torque-stall control

P Pr = Wind Turbine Control

Stall region, high dispersion

P Wind Turbine Control Pr = = Vr

Wind Turbine Control

Passive or free yaw, used in small wind turbines:

Wind Turbine Control

Reduced Models for Model-Based Controllers

JG Wind Turbine Control Tl

States: d, d, , e , e , Tele States

Reduced Models for Model-Based Controllers

Wind Turbine Control

(JR + JG ) + Tl () + Tele Ta (, e , Vw d, Vm ) MT d + CT d + KT d Fa (, e , Vw d, Vm ) e + 2e + 2 (e c ) 1 Tele + (Tele Telc ) Tip speed ratio: = R/(Vw d)

Vw = Vm + Vt (mean wind + turbulence)

Rotor force and moment coefficients: coefficients

Reduced Models for Model-Based Controllers

Wind Turbine Control

Stored in look-up tables

Dependence of CFe (, e , Vm ) and CPe (, e , Vm ) on mean wind Vm

Example: individual-pitch model Example

Equivalent shaft stiffness

Reduced Models for Model-Based Controllers

Nacelle inertia Yaw actuator

Wind Turbine Control