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Modelling and Control of Wind Turbine
Modelling and Control of Wind Turbine
Abstract: - In this paper the wind turbine system consisting of wind model, turbine, AC generator and
controller is considered. The main objective of this paper is to determine the wind turbine mathematical model,
validate it through simulation, and design an appropriate controller in order to offer a general point of view
regarding the home use of this type of clean energy production. Each part of the wind turbine is analyzed,
modeled and simulated. At the end of the paper these elements are connected together and the whole system is
modeled and simulated. The simulation results confirm the correctness of the developed mathematical models
and can be used for a better design of such systems.
Second, we will write the model for the turbine. where ρ is the air density; c p = f (θ, λ) is the
The kinetic energy produced by the wind linear
v
speed v rotates the turbine with the speed ωT. The efficiency coefficient and λ = is the speed
turbine’s blades draw a disk of the radius R ω⋅ R
producing at rotor shaft the mechanical power Pm. factor.
1 For a known wind turbine, c p can be
Pm = ⋅ ρ ⋅ π ⋅ R 2 ⋅ c p (θ, λ ) ⋅ v 3 (7)
2 determined by measurement but in some restrictive
conditions can be approximated by exponential
relations as follows:
λ0 13
⎛ b ⎞ − ⎛ 120 ⎞ −
c p = a ⋅ ⎜⎜ − c ⋅ θ − d ⎟⎟ ⋅ e λ T (8) c p (θ, λ ) = 0.25 ⋅ ⎜⎜ − 0.6 ⋅ θ − 5 ⎟⎟ ⋅ e λ T
⎝ λT ⎠ ⎝ λT ⎠
1 1 h 1 1 0.035
= − (9) = − ; (10)
λT λ−1 + g ⋅ θ (l ⋅ θ)3 + 1 λT λ−1 + 0.12 ⋅ θ (1.5 ⋅ θ)3 + 1
In these relations, the coefficients a, b, c, d, λ0, λ ∈ [0, 0.5] ; θ ∈ [0, 25]
o
3 Problem Solution θ( s ) kp
G p (s) = = (20)
In this section we will present the modeling and x p (s) 1 + Tp ⋅ s
simulation of the complete wind turbine system,
where kp is the steady state transfer factor
consisting of the fluid mechanics and the electrical
(kp=1.75) and Tp is the time constant of the
parts analyzed above, together with the dedicated
hydraulic servo drive.
controller that will be developed in this section.
The slip controller modifies the generator slip
This controller controls the pitch angle and the
by injecting in the rotor the energy Ps in order to
generator slip, based on the inputs wind and
maintain the steady state nominal point F. There
generator speeds.
are used the following equations:
P
MT = m (21)
3.1 Controller Design ωT
First, we will design the controller that has two MT
λm = (22)
inputs and two outputs. The inputs are the wind MN
speed v and the generator speed ωG. The outputs
2
are the pitch angle θ and the generator slip s. sm = − sk ⋅ (λ m − λ m − 1) (23)
The controller mathematical model consists of Ps = ( sF − sm ) ⋅ Pm ⋅ ηG (24)
two parts. First part controls the pitch angle and the
where MN, sF, ηG are known.
second the slip. The pitch angle controller has the
In fig.7 are presented the controller model and
transfer function of a first order element, as
simulation results.
follows: