Chattering Control Design on a Variable-Speed Horizontal-Axis Wind Turbine L. Acho, Y. Vidal, M. Zapateiro, F. Pozo and N.

Luo
CoDAlab, www-ma3.upc.edu/codalab Departament de Matem` atica Aplicada III Escola Universit` aria dEnginyeria T` ecnica Industrial de Barcelona Universitat Polit` ecnica de Catalunya, Barcelona, Spain

Department of Electrical Engineering, Electronics and Automatic Control, Institute of Informatics and Applications, University of Girona, Girona, Spain

Introduction
Increasing attention to wind power electricity generation dependence of global economies on fossil fuels concern about the environment

Introduction
Increasing attention to wind power electricity generation dependence of global economies on fossil fuels concern about the environment Prevailing goal of WT with rudimentary control systems minimization of the cost minimization of the maintenance of the installation.

Introduction
Increasing attention to wind power electricity generation dependence of global economies on fossil fuels concern about the environment Prevailing goal of WT with rudimentary control systems minimization of the cost minimization of the maintenance of the installation. Recently, increasing size of the WT use of mechanical actuators opened the door to active control of the captured power.

Introduction
There are two types of wind control for turbines constant speed control variable speed control

Introduction
There are two types of wind control for turbines constant speed control variable speed control Constant speed rotors are designed to deect high wind gust loads

Introduction
There are two types of wind control for turbines constant speed control variable speed control Constant speed rotors are designed to deect high wind gust loads Variable wind turbines are designed to control strong and gusty winds Some WT are able to operate at variable pitch A new control strategy for variable-speed, variable pitch horizontal-axis wind turbines (HAWTs) is proposed in this work.

Introduction

Ofce of Energy Efciency and Renewable Energy Copyright.

Introduction
Control strategy summary nonlinear dynamic chattering torque control linear blade pitch angle control

Introduction
Control strategy summary nonlinear dynamic chattering torque control linear blade pitch angle control The proposed controllers allow a rapid transition of the WT generated power between different desired set values electrical power tracking with a high-performance behavior for all other state variables

Introduction
Control strategy summary nonlinear dynamic chattering torque control linear blade pitch angle control The proposed controllers allow a rapid transition of the WT generated power between different desired set values electrical power tracking with a high-performance behavior for all other state variables The proposed controllers are validated using the National Renewable Energy Laboratory (NREL) WT simulator FAST (Fatigue, Aerodynamics, Structures, and Turbulence) code.

Brief simulator description (FAST)

NRELs National Wind Technology Center develops CAE tools that support the wind industry with state-of-the-art design and analysis capability that have become the industry standard for analysis and development that are free, publicly available, open-source, professional-grade products

Brief simulator description (FAST)

NRELs National Wind Technology Center develops CAE tools that support the wind industry with state-of-the-art design and analysis capability that have become the industry standard for analysis and development that are free, publicly available, open-source, professional-grade products In particular, the FAST code is an aeroelastic simulator was evaluated in 2005 by Germanischer Lloyd Wind Energie and found suitable for the calculation of onshore WT loads for design and certication

Brief simulator description (FAST)

FAST main features Computes structural-dynamic and control-system responses as part of the aero-hydro-servo-elastic solution Uses a combined 24-DOF modal and multi-body representation Control system modeling through subroutines, DLLs, or Simulink R with MATLAB R Nonlinear time-domain solution for loads analysis Linearization procedure for controls and stability analysis

Brief simulator description (FAST)

Control strategy: Torque Control

The electrical power-tracking error is dened as e = Pe Pref , (1)

where Pe is the electrical power and Pref is the reference power.

Control strategy: Torque Control

The electrical power-tracking error is dened as e = Pe Pref , (1)

where Pe is the electrical power and Pref is the reference power. Let us impose a rst-order dynamic to this error [B. Boukhezzar et al., 2007], = ae K sgn(e) a, K > 0, e (2) and let us take in account that the electrical power is given by Pe = c g , (3) where c is the torque control in the rotor side and g is the generator speed.

Control strategy: Torque Control

The electrical power-tracking error is dened as e = Pe Pref , (1)

where Pe is the electrical power and Pref is the reference power. Let us impose a rst-order dynamic to this error [B. Boukhezzar et al., 2007], = ae K sgn(e) a, K > 0, e (2) and let us take in account that the electrical power is given by Pe = c g , (3) where c is the torque control in the rotor side and g is the generator speed. Substitution of (1) and (3) in (2) yields the torque control 1 c = [c (ag + g ) aPref + K sgn(Pe Pref )]. g

Control strategy: Torque Control

Theorem The proposed controller c = 1 [c (ag + g ) aPref g +K sgn(Pe Pref )]. ensures nite time stability. Moreover, the settling time can be chosen by properly dening the values of the parameters a and K .

Control strategy: Torque Control

Theorem The proposed controller c = 1 [c (ag + g ) aPref g +K sgn(Pe Pref )]. ensures nite time stability. Moreover, the settling time can be chosen by properly dening the values of the parameters a and K .
Proof mainly based on Lyapunov functions and S. P. Bhat and D. S. Bernstein, ACC, 1997.

Control strategy: Torque Control

Theorem The proposed controller c = 1 [c (ag + g ) aPref g +K sgn(Pe Pref )]. ensures nite time stability. Moreover, the settling time can be chosen by properly dening the values of the parameters a and K .
Proof mainly based on Lyapunov functions and S. P. Bhat and D. S. Bernstein, ACC, 1997.
800 P 600
ref

1600

1400

1200

1000

Asymptotically stable Finite time stability

400

200

10

Control strategy: Torque Control

How can we approximate g? 1.- Use the one-mass model of a wind turbine Jt g = Ta ng Kt g Tg ng Jt : Turbine total inertia, Kg m2
g

Kt : Turbine total external damping, Nm rad1 s Ta : Aerodynamic torque, Nm Tg : Generator torque in rotor side, Nm g : generator speed, rad s1 ng : gearbox ratio

[B. Boukhezzar et al., 2007]

Control strategy: Torque Control

How can we approximate g? 1.- Use the one-mass model of a wind turbine Jt g = Ta ng Kt g Tg ng Jt : Turbine total inertia, Kg m2
g

Kt : Turbine total external damping, Nm rad1 s Ta : Aerodynamic torque, Nm Tg : Generator torque in rotor side, Nm g : generator speed, rad s1 ng : gearbox ratio

[B. Boukhezzar et al., 2007] 2.- Use the estimator (transfer function in the Laplace domain) s 0.1s + 1 [M. W. Spong, and M. Vidyasagar, John Wiley and Sons, 1989]

Control strategy: Pitch Controller

A pitch proportional controller is added upon the rotor speed tracking error = K (r n ), K > 0,

where r is the rotor speed and n is the nominal rotor speed.

Control strategy: Pitch Controller

A pitch proportional controller is added upon the rotor speed tracking error = K (r n ), K > 0,

where r is the rotor speed and n is the nominal rotor speed. As we want to disable this control when r < n the nal proposed controller is given by the following expression 1 = K (r n ) [1 + sgn(r n )] , 2 K > 0.

Simulation results

The 1.5 MW WT used for numerical validation using FAST. Installation of a General Electric 1.5 MW WT at the National Wind Technology Center (left), and comparison (scale in meters) with the Statue of Liberty (right)

Simulation results
Wind speed prole
15 14

13

wind (m/s)

12

11

10

10

15 time (s)

20

25

30

35

Simulation results
Wind speed prole
15 14

WT Characteristics
Number of blades 3 82.39 m 70 m 1.5 MW 20 rpm

13

Height of tower Rotor diameter Rated power

wind (m/s)

12

11

10

10

15 time (s)

20

25

30

35

Nominal rotor speed (n )

Torque Control
1600 1400

1200

1000 Pe (kW)

800

600

400

200

ref

Boukhezzar K =1.5 106

10

15 time (s)

20

25

30

35

Torque Control
50

45

40

r (rpm)

35

30

25 Boukhezzar K=1.5 106 20 0 5 10 15 time (s) 20 25 30 35

Torque and Pitch Control

1600 1400

1200

1000 Pe (kW)

800

600

400

200

ref

Boukhezzar K =1.5 106

10

15 time (s)

20

25

30

35

Torque and Pitch Control

23.5

23

22.5

22 r (rpm) 21.5 21 20.5 Boukhezzar K=1.5 106 20 0 5 10 15 time (s) 20 25 30 35

Torque and Pitch Control

14 12

10

8 (deg) 6 4 2 Boukhezzar K=1.5 10 0 0 5 10 15 time (s) 20 25 30

6

35

Conclusions
A WT controller is presented for a turbulence wind condition.

Conclusions
A WT controller is presented for a turbulence wind condition. The nonlinear torque control leads to a good power regulation, however it generates large rotor speed uctuations.

Conclusions
A WT controller is presented for a turbulence wind condition. The nonlinear torque control leads to a good power regulation, however it generates large rotor speed uctuations. When the pitch controller is added upon the torque controller then a good performance is obtained in rotor speed and electrical power regulation.

Conclusions
A WT controller is presented for a turbulence wind condition. The nonlinear torque control leads to a good power regulation, however it generates large rotor speed uctuations. When the pitch controller is added upon the torque controller then a good performance is obtained in rotor speed and electrical power regulation. The proposed controller is easily applicable to other WTs.

Chattering Control Design on a Variable-Speed Horizontal-Axis Wind Turbine L. Acho, Y. Vidal, M. Zapateiro, F. Pozo and N. Luo
CoDAlab, www-ma3.upc.edu/codalab Departament de Matem` atica Aplicada III Escola Universit` aria dEnginyeria T` ecnica Industrial de Barcelona Universitat Polit` ecnica de Catalunya, Barcelona, Spain

Department of Electrical Engineering, Electronics and Automatic Control, Institute of Informatics and Applications, University of Girona, Girona, Spain

Control strategy: Torque Control

Proof.
2 Let us take the Lyapunov function V = 1 2 e . Then,

= ee = e(ae K sgn(e)) = ae2 K |e| < 0. V That is, the equilibrium is globally asymptotically stable. Moreover, nite time stability can be proven. From (4), K |e| = K 2 V . V

(4)

Thus, from Theorem 1 in [S. P. Bhat and D. S. Bernstein, (1997)], the origin is a nite time stable equilibrium and ts 1 (V )1/2 , K 2 ts e K

Control strategy: Torque Control

Comparison Resistor-Capacitor circuit + Cv
v R

Error dynamic K = 0 + ae = 0 e e(t) = e0 exp(at) Settling time after 5 sec. where = 1/a

=0

t v(t) = v0 exp( RC )

Capacitor discharged after 5 sec. where = RC

Control strategy: Torque Control

Objective Choose the values of the parameters a and K in the proposed controller to obtain the desired value in just 0.2(5 ) seconds.

Control strategy: Torque Control

Objective Choose the values of the parameters a and K in the proposed controller to obtain the desired value in just 0.2(5 ) seconds. Assuming that in a neighborhood of t = 0 the error is bounded by |e| = |Pe Pref | < 1.5 106 (rated power of the WT) 1.5 106 1 e < < 0.2(5 ) = 0.2(5 ). ts K K a Taking a = 1 it is obtained that 1.5 106 ts < 1, K and, by rearranging terms, K > 1.5 106 .

Torque Control
8 7

5 c (kNm)

1 Boukhezzar K=1.5 10 0 0 5 10 15 time (s) 20 25 30

6

35

Torque and Pitch Control

8 7

5 c (kNm)

1 Boukhezzar K=1.5 10 0 0 5 10 15 time (s) 20 25 30

6

35