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Fuzzy-Logic Control System of A Variable-Speed Variable-Pitch Wind-Turbine and A Double-Fed Induction Generator
Fuzzy-Logic Control System of A Variable-Speed Variable-Pitch Wind-Turbine and A Double-Fed Induction Generator
AMÊNDOLA, C. A. M. GONZAGA, D. P.
University of São Paulo University of São Paulo
amendola@sel.eesc.usp.br diogenes@sel.eesc.usp.br
253
minute. Figure 5 shows this behavior. TT
The curve of Figure 5 is modeled by (5) and repre- Tmec = (7)
KT
sents the angular speed estimator that, from wind-
speed measurements, determines the reference value of J
J t = T2 (8)
the turbine angular speed. KT
ω ⋅R
λ= T T (3)
v 3.3. Generator
−12 .5
⎛ 116 ⎞
C P = 0.22 ⋅ ⎜⎜ − 0.4 ⋅ α − 5 ⎟⎟ ⋅ e λi The DFIG, a wound-rotor induction machine, has
⎝ λi ⎠ (4) two 3-phase windings: the first in the stator structure,
1 1 0.035 and the other in the rotor structure. So as in [6], apply-
= − 3 ing a field-oriented vectorial representation on the
λi λ + 0.08 ⋅ α α + 1
model Γ equations, transposing the stator variables “s”
0.9424 and the rotor variables “r”, for an exciting synchronous
ωT = + 1.0996 (5)
1 + e −0.7413⋅(v −10 ) reference system “ e” and, decomposing them in real
component “d” and in imaginary component “q”, the
DFIG is represented by (9), (10), (11), (12) and (13):
• Voltage Equations “u”(V):
udse = 0 ∴ Rs ⋅ idse +
d ψ se { }
=0
dt
u qse = v se ∴ Rs ⋅ iqse + ω s ⋅ψ se = u se
u dre = RR ⋅ idre +
{ }
d ψ dre
− sω s ⋅ψ qre
(9)
dt
u qre = RR ⋅ iqre +
{ }
d ψ qre
+ sω s ⋅ψ dre
Figure 4. Relationship between Cp , α and λ. dt
• Magnetic Flux Equations “Ψ”(Wb):
20
ψ dse = ψ se ∴ ψ se = LM ⋅ idse + idre ( )
ψ = 0 ∴ 0 = LM ⋅ (i + i )
19
e e e
TURBINE ROTATIONAL SPEED(rpm)
18
qs qs qr
ψ = LM ⋅ (i + i ) + Lσ ⋅ i
17 e e e e
dr ds dr dr (10)
ψ qre = LM ⋅ (iqse + iqre ) + Lσ ⋅ iqre
16
15
ω r = n pp ⋅ ω mec
14
13
254
power; “Qg”(VAr) is the reactive power; “Sg”(VA) is power of DFIG does not reach its nominal, or full-load,
the apparent power; “R”(Ω) is the electric resistance; value and, when to occur stronger winds, α is increased
“LM”(H) is the magnetization inductance; “Lσ”(H) is in order to maintain the full-load operation of DFIG.
the leakage inductance; “npp” is the number of pair-
poles; and “Jg”(kgm2) is the momentum of inertia of
DFIG.
4. Control System
An aeolic-electric energy conversion process in-
volves the air masses complex dynamics, the wind re-
gime stochastic nature and the turbine and generator
non-linear behavior. In such kind of applications, the
fuzzy-logic based controllers have shown better per-
formance [3] and some others advantages [7]: The
mathematical model is not necessary to controller syn-
thesis; it tolerates parameter imprecisions or parameter
variations; and, allows the agreement between contra-
dictory control actions, just as occurs in the aeolic-
energy capture that have to be maximum, since it do Figure 7. Membership functions of the “α”
not exceed the generator power limit. controller.
The block diagram illustrated in Figure 6 exhibits
the basic structure of the fuzzy-logic controllers, where The aeolic-energy capture controller determines the
each input is evaluated by triangular or trapezoidal pitch-angle variations “Δα” from the DFIG output
membership functions, so that the membership degree power “Pg”, from DFIG output power variations “ΔPg”,
of the fuzzy sets is associated to each input. Finally, and from the pitch-angle “α”. Its fuzzy sets are showed
the defuzzyfication is obtained by the average of the in Figure 7, where the acronym means: “HOL” high
activation degree “wi” of each output membership overload, “LOL” low overload, “FL” full-load, “LUL”
function, singleton, which is pondered by correspon- low underload, “HUL” high underload, “N” negative,
dent positions “zi” in the output universe of discourse “Z” null and “P” positive, “VFI” very fast increase,
(14). “FI” fast increase, “SI” slow increase, “M” maintain,
“SD” slow decrease, “FD” fast decrease and “VFD”
Δα =
∑w ⋅zi i
(14)
very fast decrease.
∑w i
The rule-base is composed by the following rules:
255
rent “iqr” (15). The transfer function for the active re-
sistance “Rω” is defined in (16).
The amplitude of the real component of the exciting
current “idr” is defined from wished value for the reac-
tive flux “Qs_ref” that is obtained by means of the con-
trol loop shown in Figure 10.
Table 1. Rule-bases of the “ωr”, “Qs” and Figure 10. Reactive power control loop.
“ir” controllers.
“Δe” The exciting current control loop (Figure 11) acts
PL PM PS ZE NS NM NL independently of its real and imaginary components.
PL PL PL PL PL PM PP ZE So, it determines the real “udr” and the imaginary “uqr”
PM PL PL PL PM PP ZE NS components of the voltage that is applied to the rotor
PS PL PL PM PP ZE NS NM winding to obtain an exciting current with real and
“e” ZE PL PM PP ZE NS NM NL imaginary components equaling the reference value.
NS PM PP ZE NS NM NL NL In this control current loop the feedback through
NM PP ZE NS NM NL NL NL the term “sωs.Lσ” eliminates the interdependence be-
NL ZE NS NM NL NL NL NL tween the current components. The error Ê, introduced
by back electromotive force of the DFIG, is eliminated
As the fuzzy-logic controllers are adjusted to have a by the compensation of the estimate values of its com-
smooth control action, to ensure a high disturb rejec- ponents: real “Êd” and imaginary “Êq” (17). The Equa-
tion it was implemented an additional feedback accord- tion (18) represents the active resistance “Ri”.
ing to the active resistance method [6].
The equations (11) and (13) relatives to DFIG vec-
torial model show that through real “idr”(A) and imagi-
nary “iqr”(A) exciting current components it is possible
to control, respectively, the reactive power “Qg” and
the angular speed “ωmec” of DFIG.
R R
Eˆ d = − s ⋅ψ se Eˆ d = − s ⋅ψ se (17)
LM LM
Ri = 527.8 ⋅ Lσ − (Rs + RR )
Figure 9. Speed control loop. (18)
1
e
iqR =− ⋅ Tele (15) 5. Computer Simulation
3 ⋅ n pp ⋅ ψ se
Rω = 0.5278 ⋅
(J t + Jg ) To demonstrate the global performance of the sys-
tem, it is simulated for three wind regimes [8], and the
(16)
n pp results are following:
• Under strong winds, with average speed
In the control loop shown in Figure 9, to maintain equal to 21.42(m/s) and with 19.60% of turbulence:
the DFIG rotation speed equal to the reference value The turbine rotates with maximum angular speed,
estimated in (5), the speed control generates a control while the pitch angle limits the aeolic energy capture
action as an electromotive torque, which is utilized to and maintain the nominal value of output power (Fig-
estimate the imaginary component of the exciting cur- ure 12);
256
50 • Under medium winds, with average speed
W IND SPEED (m/s) equal to 11.40(m/s) with 11.32% of turbulence: The
turbine searches constantly the optimum value of angu-
0 lar speed to maximize its power coefficient; during the
0 100 200 300 400 500 600 wind-speed peaks, the pitch-angle limits the energy
1 capture, and maintains the output power in its nominal
0.5 value (Figure 13);
GENERATOR´S OUTPUT POWER (pu)
0 • Under weak winds, with average speed equal
0 100 200 300 400 500 600 to 6.97(m/s) with 5.88% of turbulence: The turbine
40
rotates slowly, but still searches the optimum value of
20 angular speed, while the pitch-angle keeps at 0° (Fig-
TURBINE´S PITCH ANGLE (°) ure 14).
0
0 100 200 300 400 500 600
1.2 6. Conclusion
1
0.8 TURBINE´S ROTATIONAL SPEED (pu) In this paper are presented an estimator of the op-
0.6
0 100 200 300 400 500 600 timum operation angular speed for a variable-speed
Figure 12. Results for strong winds. variable-pitch aeolic energy turbine and a fuzzy-logic
control system on an aeolic energy capture controller
30 and on an exciting controller. To demonstrate the per-
20 W IND SPEED (m/s)
formance of this controllers are simulated three real
10 regimes of wind, and the obtained results demonstrate
0 the behaviors of the pitch-angle and rotation speed of
0 100 200 300 400 500 600
1
the turbine to control the aeolic-energy capture. On the
whole, the presented control system permits a smooth
0.5
GENERATOR´S OUTPUT POW ER (pu) and stable operation to the turbine, under several wind
0
0 100 200 300 400 500 600
regimes, since the weak winds, until those most intense
20 and turbulent winds.
TURBINE´S PITCH ANGLE (°)
10
7. References
0
0 100 200 300 400 500 600
[1] SLOOTWEG, J. G., POLINDER, H., KLING, L., 2001,
1.2 Dynamic Modeling of a Wind Turbine with Doubly Fed
1 Induction Generator, IEEE – Power Engineering Society
0.8 TURBINE´S ROTATIONAL SPEED (pu) Meeting, vol.1, 2001: pp.644-649.
0.6
0 100 200 300 400 500 600 [2] NASCIMENTO, J. B., 1998, Estudo Aerodinâmico do
Figure 13. Results for medium winds. Efeito da Rugosidade no Desempenho de um Modelo de
Turbina Eólica de Eixo Horizontal, Ph.D. dissertation, Uni-
versity of São Paulo, São Carlos, Brasil, 1998.
20
W IND SPEED (m/s)
[3] SIMÕES, M. G., BOSE, B. K., SPIEGEL, R. J., 1997,
10 Design and Performance Evaluation of a Fuzzy-Logic-Based
Variable-Speed Wind Generation System, IEEE – Transac-
0
0 100 200 300 400 500 600 tions on Industry Applications, vol. 33, 1997: pp. 956-965.
1 [4] VESTAS, 2006, V120-4.5MW, www.vestas.com.
GENERATOR´S OUTPUT POW ER (pu) [5] GONZAGA, D. P., BURIAN JR. Y., 2005, Small-
0.5
Variation linear model of the three-phase double-fed induc-
0 tion motor under synchronous operation: Stability, European
0 100 200 300 400 500 600 Transactions on Electrical Power, ISSN 1430 144x, vol. 15,
10
TURBINE´S PITCH ANGLE (°)
2005: pp. 325-342.
5 [6] PETERSSON, A., 2005, Analysis, Modeling and Control
of a Doubly Fed Induction Generator for Wind Turbine,
0
0 100 200 300 400 500 600 Ph.D. dissertation, Chalmers University of Technology,
1 Göteborg, Sweden, 2005.
TURBINE´S ROTATIONAL SPEED (pu) [7] VAS, P., 1999, Artificial-Intelligence-Based Electrical
0.8
Machines and Drives, Oxford University Press, 1999.
0.6 [8] DTU, 2007, Database of Wind Characteristics,
0 100 200 300 400 500 600 www.WindData.com.
Figure 14. Results for weak winds.
257