Wind Turbine Control Systems (F.D. Bianchi, H. Batista, R.J. Mantz)(Springer 2005).pdf
(
5519 KB
)
Pobierz
Fernando D. Bianchi, Hernhn De Battista
and Ricardo
J.
Mantz
Other titlespublished in this Series:
Digital Controller Inzplementation
and Fragility
Robert S.H. Istepanian and
James F. Whidborne (Eds.)
Optimisation of Industrial Processes
at Supervisory Level
Doris Sbez, Aldo Cipriano and
Andrzej W. Ordys
Robust Control of Diesel Ship Propulsion
Nikolaos Xiros
Hydraulic Servo-systems
Mohieddine Jelaliand Andreas Kroll
Strategies for Feedback Linearisation
Freddy Garces, Victor M. Becerra,
Chandrasekhar Kambhampati and
Kevin Warwick
Robust Autononlous Guidance
Alberto Isidori, Lorenzo Marconi and
Andrea Serrani
Dynamic Modelling of Gas Turbines
Gennady G. Kulikov and Haydn A.
Thompson (Eds.)
Control of Fuel Cell Power Systenzs
JayT. Pukrushpan, Anna G. Stefanopoulou
and Huei Peng
Fuzzy Logic, Identification and Predictive
Control
Jairo Espinosa, Joos Vandewalle and
Vincent Wertz
Optinzal Real-time Control of Sewer
Networks
Magdalene Marinaki and Markos
Papageorgiou
Process Modelling for Control
Benoit Codrons
Computational Intelligence in Time Series
Forecasting
Ajoy K. Palit and Dobrivoje Popovic
Modelling and Control of mini-Flying
Machines
Pedro Castillo, Rogelio Lozano and
Alejandro Dzul
Rudder and Fin Ship Roll Stabilization
Tristan Perez
Hard Disk Drive Servo Systems
(2nd Ed.)
Ben M. Chen, Tong H. Lee, Kemao Peng
and Venkatakrishnan Venkataramanan
Measurement, Control, and
Communication Using IEEE
1588
John Eidson
Piezoelectric Transducersfor Vibration
Control and Dampirzg
S.O. Reza Moheimani and Andrew J.
Fleming
Windup in Control
Peter Hippe
Manufacturing Systems control Design
Stjepan Bogdan, Frank L. Lewis, Zdenko
KovaSiC and JosC Mireles Jr.
Nonlinear HdH, Constrained Feedback
Control
Murad Abu-Khalaf, JieHuang and
Frank L. Lewis
Practical Grey-box Process Identification
Torsten Bohlin
Modern Supervisory and Optimal Control
Sandor Markon, Hajime Kita, Hiroshi Kise
and Thomas Bartz-Beielstein
Soft Sensors for Monitoring and Control of
bzdustrial Processes
Luigi Fortuna, SalvatoreGraziani,
Alessandro Rizzo and Maria Gabriella
Xibilia
Advanced Fuzzy Logic Technologies in
Industrial Applications
Ying Bai, ~a&qi
Wind Turbine
Control Systems
Principles, Modelling and Gain Scheduling Design
With
105
Figures
Zhuang and Dali Wang
(Eds.)
Advanced Control of lndustrial Processes
Piotr Tatjewski
Publication due October 2006
Adaptive Voltage Control in Power Systems
Giuseppe Fusco and Mario Russo
Publication due October 2006
-
Springer
Ql
Advances in Industrial Control
Hernh De Battista, Dr. Eng.
Fernando D. Bianchi, Dr. Eng.
CONICET, LEICI
CONICET, LEICI
Department of Electrical Engineering
Department of Electrical Engineering
Series Editors
National University of La Plata
National University of La Plata
CC91 (1900)
CC91 (1900)
,
Professor Michael J. Grimble, Professor of Industrial Systems and Director
Professor Michael A. Johnson, Professor (Emeritus) of Control Systems
and Deputy Director
Industrial Control Centre
Department of Electronic and Electrical Engineering
University of Strathclyde
Graham HasBuilding
50 George Street
Glasgow G1 1QE
United Kingdom
La Plata
La Plata
Argentina
Argentina
Ricardo
J.
Mantz, Eng.
CICpBA, LEICI
Department of Electrical Engineering
National University of La Plata
CC91 (1900)
La Plata
Argentina
Series Advisory Board
Professor E.F. Camacho
Escuela Superior de Ingenieros
Universidad de Sevilla
Camino de 10s Descobrimientos sln
41092 Sevilla
Spain
Professor S. Engell
Lehrstuhl fiir
~nla~ensteuerun~stechnik
Fachbereich Chemietechnik
Universitat Dortmund
44221 Dortmund
Germany
Professor G. Goodwin
Department of Electrical and Computer Engineering
The University of Newcastle
Cdaghan
NSW 2308
Australia
Professor T.J. Harris
Department of Chemical Engineering
Queen's University
Kingston, Ontario
K7L 3N6
Canada
Professor T.H. Lee
Department of Electrical Engineering
National University of Singapore
4 Engineering Drive
3
Singapore 117576
British Library Cataloguing
in
Publication Data
Bianchi, Fernando D.
Wind turbine control systems
:
principles, modelling and
gain scheduling design.
-
(Advances in industrial control)
1.Wind turbines
-
Automatic control
1.Title ILBattista, Hernan De III.Mantz, Ricardo
I.
621.4'5
ISBN-13: 9781846284922
ISBN-10: 1846284929
Library of Congress Control Number: 2006929603
Advances in Industrial Control series ISSN 1430-9491
ISBN-10: 1-84628-492-9
e-ISBN 1-84628-493-7
Printed on acid-free paper
ISBN-13: 978-1-84628-492-2
@
Springer-Verlag London Limited 2007
Apart from any fair dealing for the purposes of research or private study, or criticism or review, as
permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced,
stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers,
or in the case of reprographic reproduction in accordance with the terms of licences issued by the
Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to
the publishers.
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a
specific statement, that such names are exempt from the relevant laws and regulations and therefore free
for general use.
The publisher makes no representation, express or implied, with regard to the accuracy of the information
contained in this book and cannot accept any legal responsibility or Liability for any errors or omissions
that may be made.
Printed in Germany
987654321
Springer Science+Business Media
springer.com
.......
.
.
..
:.
....
>,,
.:.>>...
,.
.....
..
,
......
,:&:.',F.
....
,
J
2
Professor Emeritus O.P. Malik
J
,..~
Department of Electricaland Computer Engineering
University of Calgary
.d
2500, University Drive, NW
d
Series Editors' Foreword
Calgary
Alberta
J
~,..
d
T2N 1N4
Canada
J
Professor K.-F. Man
Electronic Engineering Department
d
City University of Hong Kong
Tat Chee Avenue
d
Kowloon
J
Hong Kong
d
Professor G. Olsson
Department of Industrial Electrical Engineering and Automation
2
The series
Advances in Industrial Control
aims to report and encourage tech-
nology transfer in control engineering. The rapid development of control tech-
nology has an impact on all areas of the control discipline. New theory, new
controllers, actuators, sensors, new industrial processes, computer methods,
new applications, new philosophies
...:
new challenges. Much of this develop-
ment work resides in industrial reports, feasibility study papers and the re-
ports of advanced collaborative projects. The series offers an opportunity for
researchers to present an extended exposition of such new work in all aspects
of industrial control for wider and rapid dissemination.
Global warming, climate change and renewable energy are all topics of cur-
rent interest in the political arena. On the one hand there are the economic
arguments about the input-output costs of the many forms of renewable en-
ergy technology and on the other there is the engineering input to develop
effective and efficient renewable energy systems. The control engineering com-
munity has much to offer for the design and construction of these new energy
systems.
This
Advances in Industrial Control
monograph written by Fernando
Bianchi, HernAn De Battista and Ricardo Mantz demonstrates the contri-
bution that the control engineering cominuility can make to the development
of wind energy conversion systems. The monograph takes a holistic view of
the control of wind turbine systems so that several different groups of readers
may extract something of value from the text.
The novice in the area of wind turbine systems will undoubtedly find the
early chapters of the monograph essential reading. In Chapters 1 and 2, but
particularly Chapter 2, the scene is set for the development of wind turbine
control. The authors begin with "The Wind" and systematically describe the
variety of wind energy conversion systems until it is necessary to focus on
i
Lund Institute of Technology
Box 118
J
S-22100 Lund
Sweden
2
i
Professor A. Ray
Pennsylvania State University
2
Department of Mechanical Engineering
0329 Reber Building
i
3
University Park
PA 16802
USA
d
T'
f
Professor D.E. Seborg
-.
Chemical Engineering
?'
3335 Engineering I1
University of California Santa Barbara
Santa Barbara
CA 93106
?'
USA
f
:
Doctor K.K. Tan
Department of Electrical Engineering
f
f
National University of Singapore
-i
4
Engineering Drive 3
Singapore 117576
i
<
Professor ~kuoYamamoto
Kyushu University Graduate School
i
Marine Technology Research and Development Program
MARITEC, Headquarters, JAMSTEC
2-15 Natsushima Yokosuka
Kanagawa 237-0061
Japan
i
the three-bladed horizontal axis wind turbine system that is the subject for
I
I
the remainder of the text. For the control studies to follow, modelling of a
I.
k
variable speed, variable blade-pitch wind energy conversion system occupies
::
Chapter
3.
Once all the component systems have been prescribed a repre-
t
I
Series Editors' Foreword
viii
sentative model framework, the discussion moves on to control and control
strategies as presented in Chapter 4. The starting point for the control of
wind turbine systems is the set of objectives: n~aximisationof energy capture,
avoidance of excessive aerodynamical and mechanical loads and the provision
of good generated power quality. Different system operating coilfigurations are
coinpared against the .outcomes for these general control objectives and from
this discussion emerges the finding of the crucial dependence of perfornlance
on operating point. It is this essential point that motivates the use of gain-
scheduled, multivariable controllers in the control designs of the remaining
two chapters of the monograph.
The entry point for the wind energy conversion systems expert is likely to
occur a little later in the text. Chapter
3
on system modelliilg and Chapter 4
on the various control objectives and strategies are likely to act as a checklist
for the knowledgeable wind turbine expert. The expert will wish to examine
the models used and study the discussion of the control strategies chapter.
The material of Chapter 5 and 6 should then be the focus of expert read-
ing, for here are control designs based on the gain-scheduling, multivariable
controller methods for tracking wind turbine operating points. These designs
exploit the structure of wind turbine models
as
linear parameter varying sys-
tems to produce viable gain-scheduled controllers. Results are presented for
variable-speed, fixed-pitch (Chapter
5)
and variablespeed, variable-pitch con-
trol system configurations. This material is also of potential interest to the
wider control community as exemplars of the linear parameter varying gain
scheduling method. A11 introduction to the method is presented and the sup-
porting control theory is found in two concise appendices on linear matrix
inequalities and gain scheduling techniques, respectively.
This volume is only the second entry the series has had on a renewable
energy t.ec11nology and provides a useful reference source for modelling and de-
sign of wind turbine control systems. From a wider point of view, the control
nletllod used, based on multivariable gain scheduled controllers, is an im-
portant constituent of the toolbox of techniques applicable to the control of
nonlinear industrial processes consequently this monograph, is a very welcome
addition to the
Advances in Industrial Control
series.
Preface
Motivated by the high dependence of global economies on fossil fuels and the
concern about the environment, increasing attention is being paid to alterna-
tive methods of electricity generation. In this trend towards the diversification
of the energy market, wind power is probably the most promising sustainable
energy resource. The wind is a clean and inexhaustible resource available all
over the world. Recent progress in wind technology has led to cost reduc-
tions to cost levels comparable, in many cases, with conventional methods
of electricity generation. Further, the number of wind turbines coming into
operation increases significantly year after year.
Wind energy conversion is hindered by the intermittent and seasonal vari-
ability of the primary resource. For this reason, wind turbines usually work
with low conversion efficiency and have to withstand heavy aerodynamic loads,
which deteriorate the power quality. In spite of this, wind turbines with rudi-
mentary control systems predominated for a long time, the prevailing goal
being the minimisation of the cost and maintenance of the installation. More
recently, the increasing size of the turbines and the greater penetration of
wind energy into the utility networks of leading countries have encouraged
the use of electronic converters and mechanical actuators. These active de-
vices have incorporated extra degrees of freedom to the design that opened
the door to active control of the captured power. Static converters used as
an interface to the electric grid enable variable-speed operation, at least up
to rated speed. In addition to increasing the energy capture, variable-speed
turbines can be controlled to reduce the loading on the drivetrain and tower
structure, leading to potentially longer installation life. Increasingly, modern
wind turbines include mechanical actuators with the aim of having control of
the blade pitch angle. Pitch control is commonly meant to limit the captured
power above rated wind speed, bringing about more cost-effective designs.
The higher complexity of variable-speed variable-pitch turbines is largely off-
set by the benefits of control flexibility, namely higher conversion efficiency,
better power quality, longer useful life,
etc.
Thus, control has an immediate
M.J. Griinble a.nd M.A. Johnson
Glasgow, Scotland, U.I<.
Preface
xi
x
Preface
Chapter 1 introduces the problem of wind turbine control. Chapter 2 de-
scribes the characteristics of the wind resource as well
as
the principles of wind
energy conversion. Chapter
3
deals with the modelling of wind turbines. In
Chapter 4, the most common control objectives and strategies are examined.
Chapters 5 and 6 address the coritrol of wind turbines using2LPVgain schedul-
ing techniques. Chapter 5 focuses on variable-speed fixed-pitch wind turbines
whereas Chapter
6
is concerned with the multivariable case of variable-speed
variable-pitch wind turbines. The theoretical background on LMI optimisa-
tion, LPV systems and robust control are extensively covered in Appendices A
and B. Finally, Appendix C presents a quasi-LPV model of the wind turbine
dynamics
as
an alternative to the model used in Chapters 5 and 6. The use of
this quasi-LPV model as a basis for LPV wind turbine control design is open
to further study.
impact on the cost of wind energy. Moreover, high performance and reliable
controllers are essential to enhance the competitiveness of wind technology.
Wind energy conversion systems are very challenging from the control sys-
tem viewpoint. Wind turbines inherently exhibit nonlinear and non-minimum
phase dynamics, and are exposed to la.rge cyclic disturbances that may ex-
cite the poorly damped vibration modes of drive-train and tower. In addition,
mathematical models describing accurately their dynamic behaviour are dif-
ficult to obtain because of the particular operating conditions. hloreover, the
current tendency towards larger and more flexible wind turbines is making
this task even more involved. The lack of accurate models must be countered
by robust control strategies capable of securing stability and some perfor-
mance features despite model uncertainties. The control problems are even
more challenging when turbines are able to operate at variable speed and
variable pitch. The best use of this type of turbine can only be achieved by
means of multivariable controllers.
The purpose of this book is to describe in detail the control of variable-
speed wind turbines, both fixed- and variable-pitch, using gain scheduling
techniques. These techniques have been very successful when applied in highly
nonlinear settings. They provide a family of linear controllers together with a
scheduling algorithm such that the coiltroller actually applied is coiltinuously
tailored to the changes in the plant dynamic behaviour. The most distinctive
feature of gain scheduling control is that the controller is designed using the
well-known and efficient tools of linear control theory.
In this book, gain scheduling coiltrol is addressed in the context of lin-
ear parameter varying (LPV) systems. I11 this recent refornlulation of the
classical gain scheduling problem, the controller design issue is stated
as
an
optimisation problem with linear matrix inequalities (LMIs). In addition to
accon~plishingsome guarantees of stability and performance, the LPV ap-
proach simplifies considerably the control design. In fact, the faillily of linear
controllers and the scheduling algorithm can be obtained in a single step.
Moreover, because of the similarities with
H,
control, the new tools to de-
sign LPV gain-scheduled controllers are very intuitive and familiar to the
control community.
This book is primarily intended for researchers and students with a con-
trol background wishing to expand their ltnowledge of wind energy systems.
The book will be useful to scientists in the field of control theory looking to
see how their innovative control ideas are likely to work out when applied to
this appealing control problem. It will also interest practising engineers deal-
ing with wind technology, who will benefit from the simplicity of the models,
the use of broadly available control algorithms and the comprehensive cov-
erage of the theoretical topics. The book provides a thorough description of
wind energy conversion systems
-
principles, components, modes of operation,
control objectives and modelling
-,
thereby serving as reference material for
researchers and professionals concerned with renewable energy systems.
We would like to acknowledge the National University of La Plata (UNLP),
the National Research Council (CONICET), the Scientific Research Com-
mission of Buenos Aires Province (CICpBA), and the National Agency for
the Promotion of Science and Technology (ANPCyT) of Argentina, for their
financial support during the period in which this manuscript was written.
Fernando D. Bianchi
Herna'n De Battista
Ricardo J. Mantz
La Plata,
April 2006
Plik z chomika:
Swanlibrary
Inne pliki z tego folderu:
-Engineering- (Ebook - Pdf) Crc Press - Wind And Solar Power Systems (Patel @1999).pdf
(39664 KB)
21-497 Wind Power For Farms, Homes & Small Industry - J Park.pdf
(17171 KB)
[energy][wind] Полное описание ветрогенератора на 600 кВт (1998).pdf
(24451 KB)
A Wind Turbine Recipe Book - The Axial Flux Alternator Windmill Plans (Hugh Piggott)-(Jan 2009).pdf
(19692 KB)
Aerodinamica Eolica.pdf
(17040 KB)
Inne foldery tego chomika:
Anastazja - Władimir Megre
Biała broń
Bruce Lipton
Dokumenty
Erotic
Zgłoś jeśli
naruszono regulamin