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A study of maximum power point tracking algorithms for wind energy system

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 2011 IEEE First Confcrencc on Clean Energy and Technology CET
A Study of Maximum Power Point Tracking
Algorithms for Wind Energy System
Majid A. Abdullah, A.H.M. Yatim, Chee Wei, Tan
Department of Energy Conversion
Universiti Teknologi Malaysia
Johor 8ahru, Malaysia
aaamaj id2@live.utm.my
Abstract- This paper reviews and studies the state-of the-art of
available maximum power point tracking (MPPT) algorithms.
Due to the nature of the wind that is instantaneously changing,
hence, there is only one optimal generator speed is desirable at
one time that ensures the maximum energy is harvested from the
available wind. Therefore, it is essential to include a controller
that is able to track the maximum peak regardless of any wind
speed. The available maximum power point tracking (MPPT)
algorithms can be classified according to the control variable,
namely with and without sensor, and also the technique used to
locate the maximum peak. A comparison has been made on the
performance of the selected MPPT algorithms on the basis of
various speed responses and the ability to achieve the maximum
energy yield. The tracking performance is performed by
simulating wind energy system using MATLAB/Simulink
simulation package. Besides that, a brief and critical discussion is
made on the differences of available MPPT algorithms for wind
energy system. Finally, a conclusion is drawn.
Keywords- MPPT; Wind energy system; PMSG; Boost converter
I. INTRODUCTION
Wind energy system has gained vast populations in the past
decade as one of the renewable energy sources due to the
possibility of depletion of conventional energy sources and its
high cost as well as its negative effects on the environment.
wind energy is preferred because it is clean, pollution-free,
exhaustible and secure. Therefore, a wind energy generation
system could be one of the significant candidates as an
alternative energy source for the future.
The amount of mechanical energy that can be extracted
from the wind is not solely depending on the wind speed, but
also governed by the ratio of the rotational speed to wind
speed. There is a specific optimal ratio for each wind turbine,
which is called the optimal tip speed ratio (TSR) or -top!' at
which the extracted power is maximum. As the wind speed is
instantaneously varying, it is essential for the rotational speed
to be variable to maintain the equality of the TSR to the
optimal one at all times. In the operation of variable speed
condition a power electronic converter is essential to convert
the variable-voltage-variable-frequency of the generator into a
fixed-voltage-fixed-frequency that is suitable for the grid.
References [1-2] have discussed the different possible
The authors would like to thank the Ministry of Higher Education,
MOHE Malaysia for the financial support and Universiti Teknologi Malaysia,
UTM Skudai for providing the facilities to conduct this research.
978-1-4577-13 54-5/11/$26.002011 © IEEE
configurations of power electronic converters and electrical
generators for variable speed wind turbine systems.
Among the electric generators, permanent magnet
synchronous generator (PMSG) is preferred due to its high
efficiency, reliability, power density; gearless construction,
light weight, and self-excitation features [3-6]. Controlling the
PMSG to achieve the maximum power point (MPP) can be
done by varying its load. In this regard, a boost converter is one
of the possible solutions, where, by controlling the duty cycle
of the converter the apparent load seen by the generator will be
adjusted and thus, its output voltage and shaft speed. In
addition to that, operating the boost converter in discontinuous
conduction mode (OCM) and applying a power factor
correction (PFC) technique contributes in total harmonic
distortion (THD) reduction and increases the power factor (PF)
of the wind power generator [7-8].
In order to determine the optimal operating point of the
wind turbine, a maximum power point tracking (MPPT)
algorithm is essential to be included in the system. Several
MPPT algorithms have been proposed in the literature.
Reference [9] has reviewed and criticized many published
MPPT algorithms and concluded that the two methods
described in [10] and [11] are the best solution due to their
adaptive tracking and self tuning capability. References [12-
14] have compared some of the available MPPT for PMSG­
based wind energy conversion system. This paper reviews the
fundamentals of the available MPPT algorithms for wind
energy system. In addition, a comparison of simulation results
is made on the three selected MPPT techniques. Finally, a
critical discussion is made and a conclusion is drawn.
II. S YSTEM OVERVIEW
Fig. I illustrates the schematic diagram of the proposed wind
turbine system. The system supplies a resistive load and
consists of wind turbine rotor, PMSG, rectifier and a boost
converter.
Uncontrolled DC Boost
Figure I. A brief block diagram of the proposed PMSG wind energy
system
321
 2011 IEEE First Conference on Clean Energy and Technology CET

Wind turbine converts the wind energy at its input to a maximum point, denoted by the Aopl' where the C p is
mechanical energy at the output, which in tum, runs a
generator to generate electrical energy. The mechanical power maximum. Continuous operation of wind turbine at this point
generated by wind turbine can be expressed as [15]: guarantees the maximum available power can be harvested
from the available wind at any speed, as shown in Fig. 3.
1 2 3
Pm = - pnR V C /A,P) (1 ) 2500 .---�---�--����

2 · .

2000 ·
..
.
_ _ _ _ _ _ _ _ _ _ _ L _ _ _ _ _ ______ ___
· .
_____

where p is the air density (kg /m ), R is the turbine rotor

3 ·
·
.
.

�
(m), V;v is the wind speed (m/ S ), and C p is the coefficient - 0
15 0
�
"­
of performance.
� 1000
w

The turbine power coefficient, C p' describes the power I-

extraction efficiency of the wind turbine [16). It is a nonlinear

500
function of both tip speed ratio, A and the blade pitch
angle, f3. While its maximum theoretical value is
Generator Speed (rad/sec)
approximately 0.59, it is practically between 0.4 and 0.45 [2].
The tip speed ratio is a variable expressing the ratio of the Figure 3. Characteristics of turbine power as a function of the rotor speed
for a series of wind speeds.
linear speed of the tip of blades to the rotational speed of wind
turbine [15).
III. MPPT TECHNIQUES

A OJ",R (2)
=
A. Tip Speed Ratio Control
V",
The optimal TSR for a given wind turbine is constant
regardless of the wind speed. If the TSR is maintained
where OJm is the mechanical angular velocity of the rotor
constantly at its optimal value, this ensures that the energy
measured in rad/s. extracted is in its maximum operating point too. Therefore, this
There are many different versions of fitted equations for method seeks to force the energy conversion system to work at
this point continuously by comparing it with the actual value
C p made in the previous studies. This paper defines C p as [5]: and feeding this difference to the controller. That, in tum,
changes the speed of the generator to reduce this error. The
optimal point of the TSR can be determined experimentally or
theoretically and stored as a reference. This method is simple,
however, it requires the measurement of wind speed
consistently and accurately which complicates its use in the
1
----- ----
0.035 reality, as well as increases the system cost [17-19). The block
(4)
Ai A + 0.08,8 1 + ,8
3 diagram of the tip speed ratio control method is shown in Fig.
4.
O , 5 r-----�--�-�----_,
a.
U Wind Energy
0.4
Q;
� Reference System
0
a. 0,3 Tip-speed ratio
'0
� 0.2
'<:;
� 0,1 Generator speed, Wg
u
0
Wind
Speed
-- --- - --
°0--� � ,�5 -. �10
� ��15 Figure 4. The block diagram of the tip speed ratio control.
TIp speed ratIo 1-_

Figure 2. The characteristic of the power coefficient,C p as a function of B. Optimal Torque Control

the tip speed ratio, A. As mentioned earlier, maintaining the operation of the wind
turbine system at the Aop1 ensures that the maximum
In this paper, due to the assumption of fixed pitch rotor,
exploitation of the available wind energy to be converted into
the f3 is set constant. Hence, the characteristics of the C p mechanical energy. It can be observed from the block diagram
mainly depends on the A only. Fig. 2 presents the C p as a represented in Fig. 5, that the principle of this method is to
adjust the PMSG torque according to a maximum power
function of the A . Based on the figure, there is only one reference torque of the wind turbine at a given wind speed. For

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 2011 IEEE First Conference on Clean Energy and Technology CET

the turbine power to be determined as a function of the A and In general, this method is simple, very fast and efficient.
However, the efficiency is lower as compare to the TSR
lVm' equation (2) is re-written as the following equation in
control, because it does not measure the wind speed directly,
order to obtain the wind speed [20-23]. which wind changes are not reflected instantaneously and
significantly on the reference signal [9].
OJ R
VIV = ", (5)
A C Power Signal Feedback Control

By substituting (5) into (1), the expression yields The block diagram of a wind energy system with power
signal feedback (PSF) control is shown in Fig. 7. Unlike the
OT control, in this method the reference maximum power
Pm _! .,.05 OJ ! Cp
- 2 p,.n. ,13 (6) curves of the wind turbine, Fig. 3, should be obtained first from
the experimental results. Then, the data points for maximum
output power and the corresponding wind turbine speed must
If the rotor is running at the A op!' it will also run at the C pmax . be recorded in a lookup table [19,24-25].
Thus, by replacing A =A oPI and C p = C pmax into (6), yields Instead of using the wind turbine maximum power versus
the following expression: shaft speed curve in obtaining the lookup table as [19], the
maximum DC output power and the DC-link voltage were
1 CPmax 3 3 taken as input and output of the lookup table in [26]. According
5
Pm-op\ = - 3 - OJm
2 pnR -- = K p-optOJm (7) to [9], there is no difference between the PSF and the OT
Aopt method in terms of the performance and the complexity of
implementation.
Considering that Pm =
OJ mTm ' the Tm can be re-arranged as
LookupTa ble
follows:
i
1 C
o

Tm-op\ 5 Pmax 2m 2
=
2 p7rR ,13
- OJ = KoptOJ m (8)
opt
Rotational speed

It is a torque-control-based method, where the analytical

expression of the optimum torque curve, represented by (6) and
Fig. 6, is given as a reference torque for the controller
connected to the wind turbine. Rotational Speed, w,

Figure 7. The block diagram of a wind energy with the power signal feedback
control technique.

D. Perturbation and Observation Control

2
"g Generalor Torque
The perturbation and observation (P&O) or hill-climb
searching (HCS) method is a mathematical optimization
technique used to search for the local maxima points of a given
'------i ("g) Generalor Speed, "g function. It is widely used in wind energy systems to get the
optimal operating point that maximizes the extracted energy.
This method is based on perturbing a control parameter in
Figure 5. The block diagram of optimal torque control MPPT method.
small step-size and observing the resulting changes in the target
100 r---�---�---,
function, until the slope becomes zero. As shown in Fig. 8, if
the operating point is to the left of the peak point, the controller
Optimum torque must move the operating point to the right to be closer for the
80
�curve A. =A.opt MPP, and vice versa if the operating point is on the other side.
E
b
'"
=> 60
In literature, some authors perturb the rotational speed and
observe the mechanical power. There are also others who
�
B
n; monitor the electrical output power of the generator and
u
40 perturb the inverter input voltage [26], or one of the variables
�
u
of the converter; namely duty cycle, d [27-29], input current,
� 20
lin [30], or input voltage, V;n [31]. In methods that used
electrical power measurement, the mechanical sensors are not
0
0 10 20 30 50 required and thus they are more reliable and less cost.
Generalor speed (radls )
Since the P&O method does not need a prior knowledge of
Figure 6. The torque-speed characteristic curve for a series of wind speeds. the wind turbine characteristic curve, it is independent, simple

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 2011 IEEE First Conference on Clean Energy and Technology CET

and flexible. However, it fails to reach the maximum power

points under rapid wind variations if it is used for large and
medium inertia wind turbines. Moreover, the problem of Conv6i:r C(l1loll:r
choosing an appropriate step-size is not an easy task; where
larger step-size means faster response and less efficiency while,
on the other hand, smaller step-size improves the efficiency but
slower the convergence speed [11, 32-33].
povvcr.
torque +_
1---___ p_
s_
1o
...;. c___--'->--___ ...;.p_
-
s_
lo e_--'

speed Lradfs]
Figure 8. Wind turbine output power and torque characteristics with MPP
tracking process [30].
E. Other methods
Many of the problems associated with the aforementioned
methods have been solved by means of artificial intelligence
control and hybrid methods. According to [34], fuzzy logic
control methods have the advantages of fast convergence,
parameter insensitivity, and accepting noisy and inaccurate
signa\. They can also be used to obtain an optimal step size for
conventional HCS method, as in [35]. Wind speed
measurement and its associated drawbacks have been solved by
using neural network technique to estimate the wind speed
depending on actual machine torque and speed [22, 36].The
proposed control structure, Wilcoxon radial basis function
network (WRBFN)-based with HCS MPPT strategy and
modified particle swarm optimization (MPSO) algorithm, in
[37] diminish the effect of the wind turbine inertia on HCS
method performance.
Hybrid method is the combination of two methods from the
aforementioned ones; to exploit the advantages of one
technique to overcome the disadvantage of the other. An
example of this methods is that in [11] where OTC method is
merged with HCS to solve the two problems associated with
the conventional HCS, the speed-efficiency trade-off and the
wrong directionality under rapid wind change. Another
example is combining PSF control and HCS in [26] to develop
a sensorless and flexible method which is also applicable for all
wind turbine levels.
Universal Bridge
Figure 9. The simulated system diagram.
The obtained performance with the different methods is
shown in Fig. 10 and the results are also summarized in Table
I. According to the plot and results analysis, the OTC controller
is the fastest in achieving the steady-state and also in the
recovery time upon wind speed change. In addition, the OTC
method is able to reach the highest value of Cp and maintained
the same value after the wind speed change. It is followed by
the P&O in input voltage method which took approximately
double the time to reach the steady-state, with Cp average of
0.4607. The slowest and less efficient one is the P&O in duty­
cycle method, where the response time is eight times the first
method, 0.02142. After being 0.46 before the wind speed step
change, Cpmax decreased to 0.42 when the step change
occurred. Since the used perturbation and observation methods
are the conventional ones, with fixed step-size, the ripples of
Cp changed under wind speed variations. In Fig. 11, the
generator's output power for each method is depicted. While
the generator's output power for the first two methods
stabilized at the same time, 0.025 sec., it needed 0.175 sec
more time for the third one. Taking the maximum mechanical
input energy of the generator as a reference and measuring the
electrical energy output of the generator under the selected
methods, the efficiencies can be calculated, as listed in Table I.
TABLE l. SIMULATED RESULTS: POWER COEFFICIENT AVERAGE
VALUES,RESPONSE TIMES,RECOVERY TIMES; ENERGY AND EFFECIENCY.

Response Recovery
Efficiency
IV. S IMULATlON RESULTS A ND D ISCUSSIONS time Energy
(W)
Melhod Median time
(.....) ("/0)
(sec.)
The performance of three MPPT control methods has been
simulated and compared using MATLAB/Simulink simulation Max. theoretical value
0.48 -- -- 784.5 --
(relierence)
package. The simulated system diagram is shown in Fig. 9.
The studied MPPT methods are: OTC, P&O of the duty cycle OTC 0.4789 0.02488 0.0006 665.9 90.66
of the boost converter, and P&O of the input voltage of the
boost converter. All the simulations were carried out with P&O or input voltage 0.4607 0.053 0.0014 645.9 87.94

system parameters as [5]. The load resistance, R is 20 n for

all simulations. The step-sizes in P&O of the duty cycle and the P&O orduly-cycle 0.3956 0.2142 0.022 597.4 81.33

input voltage were fixed at 0.5 x 1 0-3 and 0.001, respectively.

978-1-4577-13 54-5/11/$26.002011 © IEEE 324

 2011 IEEE First Conference on Clean Energy and Technology CET

6_5 r--,---,-----,
average value of Cp and held it at its maximum even with
wind speed change_ Nevertheless, its dependency on the wind
-"J ------- ------- ------- ------- --------t---;--....,...-�--�____i
" turbine characteristics makes it inflexible_ On the other hand,
i ,
, ,
,
P&O method is flexible and simple in implementation, but it is
il 5_5 ---_._. ------- . _ . _--- ------- ------- ------- .
--------,-------- ------- _ ...
, . _---- less efficient and has a difficulty in determining the optimum
""-
'" step-size_ Comparing the perturbation in duty cycle,
; : �
-0

r--_:_-�-__::_-_:_-� .-----. . -------- ------. - ---- . - . ------ perturbation of the input voltage to get a reference voltage is
� ,
,
,
,
,
,
better, as there is a controller to force the input voltage to track
4 _ 5 L-----,---L-------:--'------
the reference_ Finding out an adaptive step-size algorithms and
..L._----
--: _-,-L_-,---L_--,---L
-'-:- -,-----,---l:-:----,-
L---:-'
--
0.45 0.46 0.47 0.48 0.49 0_5 0_51 0_ 52 0_53 0_ 54 0_55 combining two or more of the available methods will improve
Time (Sec.)
the performance and overcome some of the obstacles of the
Coefficient of Power (Cp)
05 r-
current methods_
-,---,---,

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