ACTIVE CONTROL OF WIND TURBINE ROTOR TORSIONAL VIBRATION Warren N. White Zhichao Yu Mechanical and...

ACTIVE CONTROL OF WIND TURBINE ROTOR TORSIONAL VIBRATION

Warren N. WhiteZhichao Yu

Mechanical and Nuclear EngineeringKansas State UniversityManhattan, KS 66506

[email protected]@ksu.edu

Ruth Douglas MillerDavid Ochs

Electrical and Computer EngineeringKansas State UniversityManhattan, KS 66506

[email protected]@gmail.com

Kansas State University 2013 DSCC 10-21-13

AgendaIntroduction

Torsion Measurement Scheme

Generator Model and Controller

The Vibration Isolator

Results

Conclusions

* Especially appreciate ePEP’s generosity for supporting the research


IntroductionReduction of rotor shaft torsional vibrations

Active control of generator torque

Measurement of the rotor shaft torsion

NREL FAST simulation with PMSG for different conditions


Torsion Measurement Scheme

opticalfiber

centerline

gratings

opticalfiber

graded indexlenses


Generator Model and Controller qqdqde iLLiip

2

3

dt

diLiLpRiv ddqqrdd

dt

diLiLpRiv qqddrqq

(2)

(3)

Direct and Quadrature voltage:

Linearization and decoupling:

Feedback linearization, let:

dqrsd vipLv dt

diLRiv qsqq

(6)

(7)

qrdrsq vpipLv

dt

diLRiv dsdd

(5)

(4)

Generator torque:

PMSGGenerator

(1)0


Generator Model and Controller Cont.

dt

diLRiv qsqq

(6)

(7)

dt

diLRiv dsdd

RsLsV

sI

sq

q

1(8)

sIsIsE qqd (9)

Define the error signal:

Define the transfer function between E(s) and sVq :

cs

RsL

sE

sVsq

(10)

(8)

(10)

cssE

sIq 1 (11)

1

1

cssI

sI

dq

qCLTF:

PMSGGenerator

(12)


Generator Simulink Model

rotorangularvelocity

DQ - PM Generator Model

2

iq

1

id

1s

quadrature axis current

1/Ls

q 1/Ls

p*psi

p*psi

[Lspwriq]

iq-NL source

[Lspwriq]

iq- NL

[Lspwrid]

id-NL source

[Lspwrid]

id-NL

1s

direct axis current

1/Ls

d 1/Ls

R

R - q axis

R

R - d axis

Ls*p*wr*iq

Ls*p*wr*id

Ls*p

Ls*p

3

vq

2

wr

1

vd

PMSGGenerator


2

tau eactual

1

id

2/(3*p*psi)

torque to iq

p*psi

p*psi

[Lspwriq]

iq-NL source

[Lspwriq]

iq- NL

(3*p*psi)/2

iq to torque

[Lspwrid]

id-NL source

[Lspwrid]

id-NL

0

id - desired

v d

wr

v q

id

iq

PMSGGenerator

PI(s)

PI Controller1

PI(s)

PI Controller

Ls*p*wr*iq

Ls*p*wr*id

Ls*p

Ls*p q

Ls*p

Ls*p d

2

tau edesired

1

wr

Generator Torque Controller


The vibration Isolator

Drive Train Two Mass Model

Vibration Isolator Derivation

Speed, Torque, and Vibration Control


Drive Train Two Mass Model

Rotor

generator inertiareflected through

gearboxN2JG

rotor inertiaJ

aero

1

Torsional stiffness Ks

Torsional damper D

Ne

N2


Vibration Isolator Derivation

scss

sKss

s

sKs aerord

PIe

1

1

10

101

Generator torque:

Speed Control High pass filter

Low pass filter

BPF

1000HZ10HZ

(13)


Speed, Torque, and Vibration Control

1

FAST tau e

-10000(s+1)

s

Speed Controller

wr

tau e desired

tau e actual

PMSG Subsys

0.1s

0.1s+1

High PassFilter

-100

FilterGain

3

tau r

2

wd

1

wr

Rotor Speed

DesiredRotor Speed

Rotor Torque


ResultsNREL 5 MW Turbine

Blade Pitches = 12.5 ̊

Rotor Speed Control, ωd = 11 RPM

Steady, Time-varying, Turbulent wind, vmean= 15 m/s


STEADY WIND

0 100 200 300 400 500 600 700-1000

-500

0

500

1000

1500

2000

2500

3000

3500

4000

Time(sec)

Roto

r T

orq

ue(k

N-m

)

Steady Wind

without Isolator

Isolator gain=10Isolator gain=100

0 5 10 15 20 25 30 35 40-700

-600

-500

-400

-300

-200

-100

0

100

200

300

Time(sec)

Roto

r T

orq

ue(k

N-m

)

Steady Wind

without Isolator



Time Varying Wind

0 100 200 300 400 500 600 700-1000

0

1000

2000

3000

4000

5000

Time(sec)

Rot

or T

orqu

e(kN

-m)

Time Varying Wind

without Isolator


500 502 504 506 508 510 512 514 516 518 5203500

3600

3700

3800

3900

4000

4100

4200

Time(sec)

Roto

r T

orq

ue(k

N-m

)

Time Varying Wind

without Isolator



Turbulent Wind

0 100 200 300 400 500 600 700-2000

-1000

0

1000

2000

3000

4000

5000

6000

Time(sec)

Rot

or T

orqu

e(kN

-m)

Turbulent Wind

without Isolator


390 392 394 396 398 400 402 404 406 408 4103800

3900

4000

4100

4200

4300

4400

4500

4600

Time(sec)

Rot

or T

orqu

e(kN

-m)

Turbulent Wind

without Isolator



500 502 504 506 508 510 512 514 516 518 52035

36

37

38

39

40

41

42

43

44

45

Time(sec)

Gen

erat

or T

orqu

e(kN

-m)

Time Varying Wind

without Isolator

Isolator gain=100

390 392 394 396 398 400 402 404 406 408 4104100

4150

4200

4250

Time(sec)

Rot

or T

orqu

e an

d N

et B

endi

ng M

omen

t(kN

-m)

Turbulent Wind

Isolator gain = 90

Isolator gain = 100

GENERATOR TORQUE FOR TWO DIFFERENT ISOLATOR GAINS ROBUSTNESS TEST FOR ISOLATOR


0 100 200 300 400 500 600 700-1000

0

1000

2000

3000

4000

5000

Time(sec)

Rot

or T

orqu

e an

d N

et B

endi

ng M

omen

t(kN

-m)

Turbulent Wind (K = 100)

Rotor Torque

Blade Base In-plane Bending Moment Sum

0 100 200 300 400 500 600 700-2

-1

0

1

2

3

4

5

6x 10

6

Time(sec)

Pow

er (

wat

ts)

Time Varying Wind

without Isolator

Isolator gain=100

ROBUSTNESS TEST FOR ISOLATOR – IN-PLANE BLADE BASE BENDING MOMENT SUM USED FOR FEEDBACK

GENERATOR POWER FOR TWO ISOLATOR GAINS


Conclusions

Rotor vibrations were eliminated or substantially reduced

Application of rotor torque measurement scheme

Including generator electrical system in analysis


Future WorkBand pass filter

Including gearbox model in the analysis

Including doubly fed induction generator(DFIG)

Assessing life extension by reduction of torsion


I Appreciate Your Attention

The End

Questions?Warren N. White

Zhichao [email protected]

[email protected]

Ruth Douglas MillerDavid Ochs

[email protected]@gmail.com

ACTIVE CONTROL OF WIND TURBINE ROTOR TORSIONAL VIBRATION Warren N. White Zhichao Yu Mechanical and...

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