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βopt Kω2 ω wind Measured Rotor Speed Turbine τg Region 3 Control
• Objective: Maintain rated power • Holding τg = τrated (constant) and using β=βopt to track ωrated • Ref: J. Laks, L. Pao, and A. Wright, Control of Wind
Turbines: Past, Present and Future, American Control Conference, 2009.
wind Rated Rotor Speed Error PID τg βcmd Turbine Measured Rotor Speed 24 11/9/2010 Region 3 Control
– Excitation of flexible modes, e.g. Tower fore/aft – Loads on blades due to wind gusts • Advanced control methods
– Reduce tower fore/aft with notch filters and/or accelerometer measurements in the nacelle – Use individual blade pitch control to reduce bending on each blade – Reduce drivetrain vibrations by adding a small generator torque ripple computed by filtering the rotor speed measurement. Individual Pitch Control Ref: A. Ozdemir, P. Seiler, G. Balas, Effects of Disturbance Augmented Control Design for Wind Turbines, Submitted to Journal of Mechatronics 25 11/9/2010 Results Under Steady Wind 1% Turbulent Wind 26 11/9/2010 5% Turbulent Wind 5% Turbulent Wind 27 11/9/2010 Fault Detection and Diagnostics
• Reduce downtimes • Reduce maintenance costs • Prevent catastrophic failures Benchmark Problem
• Benchmark problem given by: – Fault Tolerant Control of Wind Turbines – a benchmark model, Odgaard, P.F., Stoustrup, J., and Kinnaert, M. (2009)  • A generic 4.8MW turbine model with realistic sensor configuration • Faults in the sensing, actuation and drivetrain systems
 Odgaard, P.F., Stoustrup, J., and Kinnaert, M. (2009). Fault tolerant control of wind turbines - a benchmark model. In Proceedings of Fault Detection, Supervision and Safety of Technical Processes. 28 11/9/2010 Sensor Configuration
Sensor Rotor Speed Generator Speed Generator Torque Generator Power i-th Blade Pitch Angle Wind Speed Configuration Dual redundant Dual redundant Single string Single string Dual redundant Single string • Measurement challenges: – Noisy rotor speed measurements – Wind speed measurement with high bias • 3 types of faults: – Sensor bias, scale factor, frozen...
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This note was uploaded on 02/26/2011 for the course EE 523 taught by Professor Dr.hopkins during the Spring '11 term at SUNY Buffalo.
- Spring '11