Control of Large HAWT's by Chen Wang

Control of Large Horizontal-Axis Wind
Turbines
Chen Wang
Supervisor: Professor George Weiss
Control & Power Research Group
Department of Electrical & Electronic Engineering
Imperial College London
Imperial College London, June 1, 2006 Control of Large HAWT - p. 1/35

Contents
● Contents ■ Introduction
Introduction
■ LPV control of the rotor current of a DFIG
LPV control of the rotor current
of a DFIG ■ Aerodynamics of wind turbines
Aerodynamics of wind turbines
■ Suppression of vibrations in wind turbine
Suppression of vibrations in
wind turbines ■ Conclusions

● Contents
Introduction
● System overview
● System overview

of a DFIG

Introduction
wind turbines

System overview
● Contents
Introduction
● System overview "

#

● System overview

of a DFIG


wind turbines
Figure 1: A grid-connected wind driven DFIG.

System overview
● Contents
Introduction 7UDQVIRUPHU
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● System overview
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● System overview
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Figure 2: Control of a grid-connected wind driven DFIG.

● Contents
Introduction

of a DFIG
● LPV systems
● LPV systems
● LPV systems LPV control of the rotor current of a
● LPV systems
● LPV model for the DFIG
DFIG
● LPV current control of the
DFIG
DFIG
wind turbines

LPV systems
● Contents
Linear parameter varying (LPV) systems are a special class of
Introduction
systems, which for every fixed value of the parameter vector
of a DFIG
θ(t) ∈ Rs are linear time invariant (LTI) systems. We need to
● LPV systems
● LPV systems
consider LPV systems where the state-space matrices depend
● LPV systems
● LPV systems
on the vector of parameters θ(t) in an affine fashion. A
● LPV model for the DFIG state-space representation of a LPV system Σ is
DFIG
ẋ(t) = A(θ(t))x(t) + B(θ(t))u(t), (1)
DFIG
y(t) = C(θ(t))x(t) + D(θ(t))u(t). (2)
wind turbines
where x is the state (x ∈ Rn ), u is the input vector (u ∈ Rm )
and y is the measured output vector (y ∈ Rp ). In this report, we
only have to deal with LPV systems where measurements of
θ(t) are available in real time.

LPV systems
● Contents
Notation 1.1. L2 [0, ∞) denotes the set of measurable, square
Introduction
integrable functions of t, t > 0, with norm
R∞ 1
kf kL2 = ( 0 |f (t)|2 dt) 2 . By abuse of notation, we will also use the
of a DFIG
● LPV systems
● LPV systems same notation for the space of vector-valued square integrable
● LPV systems
● LPV systems
signals.
● LPV current control of the Definition 1.1. Let Θ ⊂ Rs be a compact set of possible parameter
DFIG
● LPV current control of the vectors. The LPV system Σ from (1) and (2) has quadratic H∞
DFIG
performance γ > 0 if there exists a matrix X > 0 such that
 
Suppression of vibrations in T T
wind turbines A(θ) X + XA(θ) XB(θ) C(θ)
T T <0
B(θ) X −γI D(θ) (3)

 
C(θ) D(θ) −γI
for all θ ∈ Θ (see P. Apkarian et al., 1995).

LPV systems
● Contents
Remark 1.2. The LMI (3) implies, by multiplying the matrix from the
Introduction
left with z T = [x(t)T u(t)T γ1 y(t)T ] and then multiplying it from the
of a DFIG right with z, that
● LPV systems
● LPV systems
d 1
● LPV systems
● LPV systems hXx(t), x(t)i ≤ γku(t)k − ky(t)k2 .
2
(4)
● LPV model for the DFIG dt γ
DFIG
■ If X > 0, γ1 > 0 and (A, C) observable, then the system Σ is
DFIG
stable. Because, taking u = 0 ⇒ d
dt hXx(t), x(t)i ≤ − γ1 kyk2 ;
■ If the initial state of Σ is zero, we obtain that kykL2 ≤ γkukL2 ,
wind turbines
and this is true for any measurable function θ : [0, ∞) → Θ.

LPV systems
● Contents
Definition 1.2 (Induced L2 -norm). For each θ ∈ Θ, let Gθ be the
Introduction
transfer function of the stable system obtained by taking θ(t) = θ in
of a DFIG (1) and (2). The induced L2 -norm of the family G = (Gθ ) is defined
● LPV systems
● LPV systems
by
● LPV systems
● LPV systems
kGk = sup kGθ k∞ , (5)
● LPV model for the DFIG θ∈Θ
DFIG
where kGθ k∞ = supRe(s)>0 kGθ (s)k.
DFIG It follows from Remark 1.2 that, if Σ has quadratic H∞
Aerodynamics of wind turbines performance γ > 0, then kGk ≤ γ.
wind turbines

LPV model for the DFIG
● Contents
Based on a 5th order nonlinear DFIG model, (see G.M. Asher
Introduction
et al., 1996 and P. Vas, 1998), we take the state variables x as
of a DFIG
the stator fluxes and rotor currents. The external input
● LPV systems
● LPV systems
variables w (disturbances and references) are stator voltages
● LPV systems
● LPV systems
and rotor current references. The controller output u consists
● LPV model for the DFIG of rotor voltages. All of the variables are expressed in a dq
● LPV current control of the reference frame synchronous with the stator flux. Thus
DFIG
   
DFIG
Ψds vds
" #
 Ψ   v  vdr
 qs   qs 
wind turbines
x=  , w =  ref  , u = .
 idr   idr  vqr
iqr iref
qr

LPV model for the DFIG
● Contents
h iT
Introduction
The tracking errors are z = eidr eiqr , where eidr = iref
dr -
of a DFIG
idr and eiqr = iref
qr - iqr . The measured outputs are
● LPV systems h iT
● LPV systems
● LPV systems
y = Ψds Ψqs idr iqr .
● LPV systems
● LPV model for the DFIG The state-space equations of the DFIG model are
DFIG
ẋ = (A1 + ωsl A2 )x + B1 w + B2 u,
DFIG
z = C1 x + D11 w + D12 u, (6)
y = C2 x + D21 w + D22 u,
wind turbines

LPV current control of the DFIG
● Contents
Introduction
3
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wind turbines
Figure 3: LPV control of a wind driven DFIG

LPV current control of the DFIG
● Contents
Introduction
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● LPV systems ]
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Aerodynamics of wind turbines /39FRQWUROOHU

wind turbines
.
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troller design

● Contents
Introduction

of a DFIG

● Rotor blade theory
● Lift and drag coefficient
● Axial force for structural pitch
● Axial force for different pitch
angles
wind turbines

Rotor blade theory
● Contents
Introduction
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LPV control of the rotor current Z7 UD
of a DFIG U
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wind turbines
a Axial flow induction factor

a′ Tangential flow induction factor
r Radius of blade element (m)
U∞ Free-stream wind velocity (m/s)
ωT Rotational speed of rotor (rad/s)

Rotor blade theory
● Contents
Introduction
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of a DFIG
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Introduction

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● Rotor blade theory 8 f D
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wind turbines
α Angle of attack (AOA)

β Pitch angle
φ Flow angle of relative wind velocity Vwr to rotor plane
c Blade chord length (m)
Vwr Wind velocity relative to a point on rotating blade

Rotor blade theory
● Contents
Assume optimal operation which implies maximum power
Introduction
efficiency, and a is constant along each blade, then we have
of a DFIG
(see T. Burton, et al, 2001)
1 a(1 − a)
● Rotor blade theory a = , a′ = (7)
● Rotor blade theory 3 λ2 µ2
● Rotor blade theory 1−a
● Rotor blade theory tan φ = , (8)
● Lift and drag coefficient λµ(1 + a′ )
angles
α = φ − β, (9)
q
Vwr = U∞2 (1 − a)2 + ω 2 r 2 (1 + a′ )2 , (10)
wind turbines T
1 2
dFax = ρV N c(Cl cos φ + Cd sin φ)dr, (11)
2 wr
µ Non-dimensional radial position, r/R
Cl (Cd ) Sectional lift (drag) coefficient

Lift and drag coefficient
● Contents

Introduction
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of a DFIG &G
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wind turbines

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● Contents
Introduction

of a DFIG
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wind turbines

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● Contents
Introduction

of a DFIG

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wind turbines

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● Contents
Introduction

of a DFIG
Suppression of vibrations in wind
wind turbines
● Wind turbine model turbines
● Wind turbine model
● Wind turbine tower model
● Control of tower fore-aft
vibration
● Control of drive-train torsional
vibration
vibration
vibration

Wind turbine model
● Contents
Introduction :LQGGLUHFWLRQ
of a DFIG
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Wind turbine model
● Contents
The linear dynamics of the wind turbine about an equilibrium
Introduction
point can be written as:
of a DFIG
[M ]q̈ + [D]q̇ + [K]q = {fβ }β + {fT }T + {fU∞ }U∞ , (12)
wind turbines q, q̇, q̈ The deviation of DOF displacement, velocity
● Wind turbine model and acceleration from the operating equilibr-
● Wind turbine tower model ium point values
β, T, U∞ The deviations of the inputs from their operat-
vibration
● Control of drive-train torsional ing point values
vibration
vibration
[M ], [D], [K] System mass, damping and stiffness matrices
vibration {f (·)} The forcing function

Wind turbine tower model
● Contents
The structural dynamics of a flexible wind turbine system can
Introduction
be modeled as a uniform beam with top mass M , as shown in
of a DFIG
Figure 10. The 1st natural frequency may be approximated as
(see J. van der Tempel, et al, 2002)
3.04EI
f12 ≈
wind turbines
2 3
. (13)
● Wind turbine model 4π (M + 0.227mL)L
● Wind turbine tower model 0
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● Contents
1 M
I ≈ πD 3 t,
Introduction
m = ρs πDt, b= , (14)
of a DFIG
8 mL
s
Aerodynamics of wind turbines D E
f1 ≈ 2 . (15)
wind turbines
L 104(b + 0.227)ρs
● Wind turbine tower model where
● Wind turbine tower model t Tower wall thickness
● Control of tower fore-aft D Tower average diameter
vibration
vibration
ρs Steel density
vibration
vibration

● Contents
Table 1 Opti-OWECS characteristics
Introduction

L 81m
of a DFIG
N 2
Prated 3MW
wind turbines
ωT 22 rmp=0.37 Hz
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● Contents
Table 2 Vestas V66 2MW characteristics
Introduction

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of a DFIG
N 3
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wind turbines
ωT 10.5-24.4 rmp=0.17-0.4 Hz
● Wind turbine tower model 3 3
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Control of tower fore-aft vibration
● Contents
Given the 1st fore-aft mode of the wind turbine tower, we have
Introduction
LPV control of the rotor current M ẍ + D1 ẋ + K1 x = Fax , (16)

of a DFIG
st
p
Then the 1 tower fore-aft mode frequency is K1 /M rad/s.
wind turbines
● Wind turbine model ∂Fax
● Wind turbine model δFax = δβ = −Dp1 ẋ, (17)
● Wind turbine tower model ∂β
● Wind turbine tower model −Dp1
● Wind turbine tower model δβ = ẋ, (18)
● Control of tower fore-aft ∂Fax /∂β
vibration
vibration
where Dp1 is the additional damping. The tower velocity ẋ can
vibration
● Control of drive-train torsional be calculated by integration of the tower acceleration
vibration
measured by an accelerometer mounted in the nacelle.

Control of drive-train torsional vibration
● Contents
Given the 1st tower side-to-side mode, we have
Introduction
LPV control of the rotor current M ẍ + D2 ẋ + K2 x = Ft + Fg , (19)

of a DFIG
st
Then
p the 1 tower side-to-side mode frequency is
wind turbines K2 /M rad/s.
● Wind turbine tower model ∂Fg
● Wind turbine tower model δFg = δTe = −Dp2 ẋ, (20)
∂Te
vibration
−Dp2
vibration
δTe = ẋ, (21)
● Control of drive-train torsional ∂Fg /∂Te
vibration
vibration
where Dp2 is the additional damping.

● Contents
Introduction
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Control of Large Horizontal-Axis Wind

Control & Power Research Group

Department of Electrical & Electronic Engineering

Imperial College London

Imperial College London, June 1, 2006 Control of Large HAWT - p. 1/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 2/35

LPV control of the rotor current

Aerodynamics of wind turbines

Imperial College London, June 1, 2006 Control of Large HAWT - p. 3/35

Aerodynamics of wind turbines

Figure 1: A grid-connected wind driven DFIG.

Imperial College London, June 1, 2006 Control of Large HAWT - p. 4/35

UHI UHI UHI

Figure 2: Control of a grid-connected wind driven DFIG.

Imperial College London, June 1, 2006 Control of Large HAWT - p. 5/35

LPV control of the rotor current

Aerodynamics of wind turbines

Imperial College London, June 1, 2006 Control of Large HAWT - p. 6/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 7/35

for all θ ∈ Θ (see P. Apkarian et al., 1995).

Imperial College London, June 1, 2006 Control of Large HAWT - p. 8/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 9/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 10/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 11/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 12/35

Figure 3: LPV control of a wind driven DFIG

Imperial College London, June 1, 2006 Control of Large HAWT - p. 13/35

Aerodynamics of wind turbines /39FRQWUROOHU

Figure 4: Block diagram of the augmented plant for LPV con-

Imperial College London, June 1, 2006 Control of Large HAWT - p. 14/35

LPV control of the rotor current

Aerodynamics of wind turbines

Imperial College London, June 1, 2006 Control of Large HAWT - p. 15/35

Suppression of vibrations in )LJXUH D $EODGHHOHPHQWVZHHSVRXWDQDQQXODUULQJ

a Axial flow induction factor

Imperial College London, June 1, 2006 Control of Large HAWT - p. 16/35

LPV control of the rotor current ]

Aerodynamics of wind turbines

Imperial College London, June 1, 2006 Control of Large HAWT - p. 17/35

LPV control of the rotor current

● Rotor blade theory 5RWDWLQJGLUHFWLRQ

Imperial College London, June 1, 2006 Control of Large HAWT - p. 18/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 19/35

α Angle of attack (AOA)

Imperial College London, June 1, 2006 Control of Large HAWT - p. 20/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 21/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 22/35

LPV control of the rotor current

● Rotor blade theory 

Imperial College London, June 1, 2006 Control of Large HAWT - p. 23/35

LPV control of the rotor current

● Rotor blade theory

Imperial College London, June 1, 2006 Control of Large HAWT - p. 24/35

LPV control of the rotor current

Aerodynamics of wind turbines

Imperial College London, June 1, 2006 Control of Large HAWT - p. 25/35

Suppression of vibrations in 'ULYHWUDLQWRUVLRQ

Imperial College London, June 1, 2006 Control of Large HAWT - p. 26/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 27/35

Imperial College London, June 1, 2006 Control of Large HAWT - p. 28/35

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LPV control of the rotor current

Imperial College London, June 1, 2006 Control of Large HAWT - p. 30/35

Control of Large HAWT's by Chen Wang

Control of Large HAWT's by Chen Wang

Suppression of vibrations in )LJXUHD$EODGHHOHPHQWVZHHSVRXWDQDQQXODUULQJ

● Rotor blade theory

Suppression of vibrations in 'ULYHWUDLQWRUVLRQ

LPV control of the rotor current

● Control of drive-train torsional