Wind Turbine Control Systems (F.D. Bianchi, H. Batista, R.J. Mantz)(Springer 2005).pdf

Fernando D. Bianchi, Hernhn De Battista

and Ricardo J. Mantz

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- Springer

Advances in Industrial Control

Hernh De Battista, Dr. Eng.

Fernando D. Bianchi, Dr. Eng.

CONICET, LEICI

Department of Electrical Engineering

Series Editors

National University of La Plata

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

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,

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The publisher makes no representation, express or implied, with regard to the accuracy of the information

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that may be made.

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Professor Emeritus O.P. Malik

,..~

Department of Electricaland Computer Engineering

University of Calgary

2500, University Drive, NW

Series Editors' Foreword

Calgary

Alberta

~,..

T2N 1N4

Canada

Professor K.-F. Man

Electronic Engineering Department

City University of Hong Kong

Tat Chee Avenue

Kowloon

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Professor G. Olsson

Department of Industrial Electrical Engineering and Automation

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

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Pennsylvania State University

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-. Chemical Engineering

3335 Engineering I1

University of California Santa Barbara

Santa Barbara

CA 93106

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Doctor K.K. Tan

Department of Electrical Engineering

National University of Singapore

-i

4 Engineering Drive 3

Singapore 117576

Professor ~kuoYamamoto

Kyushu University Graduate School

Marine Technology Research and Development Program

MARITEC, Headquarters, JAMSTEC

2-15 Natsushima Yokosuka

Kanagawa 237-0061

Japan

the three-bladed horizontal axis wind turbine system that is the subject for

the remainder of the text. For the control studies to follow, modelling of a

variable speed, variable blade-pitch wind energy conversion system occupies

Chapter 3. Once all the component systems have been prescribed a repre-

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

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

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