Wind Turbine Control Algorithms - gob.mx · Wind Turbine Control Algorithms development for...
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energy innovation More information: E.L. van der Hooft Energy research Centre of the Netherlands Wind Energy tel. +31 224 564913 fax. +31 224 568214 eml. [email protected] Wind Turbine Control Algorithms development for industrial use T.G. van Engelen, E.L. van der Hooft, P. Schaak speed. Research and development focuses on the prevailing turbine concept: The multivariable wind turbine system is approximated by different scalar subsystems: well physically interpretable and independently controllable. variable speed, active pitch to vane. APPROACH Above rated wind speed, aerodynamic power is controlled by and both effectuated by the Simultaneously, the electric power is kept constant by control of the generator torque. Narrow band feedback of tower top nodding and naying to the pitching speed and generator torque enhances the damping rate of tower bending. Feedback of the estimated shaft deformation to the generator torque lowers drive-train torsion resonance; a Kalman filter processes the measured generator speed. rotor speed feedback feed forward of the estimated windspeed, pitching Pitch actuation system Electric torque servo ω 3p co ω = Low pass filter ω Vw co ω = Low pass filter Electric torque control shaft torsion torque control Lateral tower torque control ω dvt bp ω = Band pass filter Σ Σ Σ ω tow bp ω = Band pass filter Aerodynamic torque control For/aft tower thrust control ω tow bp ω = Band pass filter ∆ d dt Θ () ref d dt Θ () act ref T e gen T e tower acceleration (fore/aft) pitch angle rotor speed tower acceleration (lateral) tow T e dvt T e yield T e d dt Θ () tow d dt Θ () aero Wind turbine rotor speed setpoint rotor speed d dt Θ () T e = pitching speed = electric torque rotor speed regulation energy yield optimisation structural fatigue reduction OBJECTIVES high performance full load control at industry-standard stability margins: - overall control loop assessment; - compensation for dynamic inflow; - in-loop wind speed estimator for fast reaction on wind gusts; - gain scheduling to cope with non linear aerodynamics; - rotor speed setpoint adaptation to utilise kinetic buffering; adaptive inactivity zone; forced rotor speed limitation in short time extreme conditions; enhanced damping of tower bending and drive-train torsion; optimised partial load control; smooth transients between full and partial load operation. FEATURES AND PROPERTIES * * * * * * RESULTS DELIVERABLES C / FORTRAN-coded algorithm for embedding in process computer or linking to aerodynamic code. Time domain simulation of 3MW turbine * * * 400 450 500 550 600 650 10 15 20 rotor effective wind speed (cyan); estimated windspeed (blue); rated wind speed (magenta) [m/s] 400 450 500 550 600 650 1 2 3 4 5 aerodynamic power (red); electric power (blue) [MW] 400 450 500 550 600 650 10 12 14 16 18 rotor speed (blue); rotor speed setpoint (red); rated rotor speed (magenta) [rpm] 400 450 500 550 600 650 0 5 10 15 pitch angle (blue) [dg] 400 450 500 550 600 650 -4 -2 0 2 4 pitching speed (blue) [dg/s] time [s]
Transcript of Wind Turbine Control Algorithms - gob.mx · Wind Turbine Control Algorithms development for...
energy innovation
More information:
E.L. van der HooftEnergy research Centreof the NetherlandsWind Energytel. +31 224 564913fax. +31 224 568214eml. [email protected]
Wind Turbine Control Algorithmsdevelopment for industrial useT.G. van Engelen, E.L. van der Hooft, P. Schaak
speed.
Research and development focuseson the prevailing turbine concept:
The multivariable wind turbine system isapproximated by different scalar subsystems:
well physically interpretable andindependently controllable.
variable speed, active pitch to vane.
APPROACH
Above rated wind speed, aerodynamicpower is controlled by
and both
effectuated by the Simultaneously, the electric
power is kept constant by control of thegenerator torque.
Narrow band feedback of tower topnodding and naying to the pitching
speed and generator torque enhancesthe damping rate of tower bending.
Feedback of the estimated shaftdeformation to the generator torque
lowers drive-train torsion resonance; a Kalman filter processes the measured
generator speed.
rotor speedfeedback feed forward of the
estimated windspeed,pitching
Pitch actuationsystem
Electric torqueservo
ω 3pco ω=Low pass filter
ω Vwco ω=Low pass filter
Electrictorque control
shaft torsiontorque control
Lateral towertorque control
ω dvtbp ω=Band pass filter
Σ
Σ
Σ
ω towbp ω=Band pass filter
Aerodynamictorque control
For/aft towerthrust controlω towbp ω=
Band pass filter
∆ddtΘ( )ref d
dtΘ( )act
refTegenTe
tower acceleration (fore/aft)
pitch angle
rotor speed
tower acceleration (lateral)
towTe
dvtTe
yieldTe
ddtΘ( )tow
ddtΘ( )aero
Wind turbine
rotor speedsetpoint
rotor speed
ddtΘ( )Te
= pitching speed
= electric torque
rotor speed regulation energy yield optimisation structural fatigue reduction
OBJECTIVES
high performance full load control atindustry-standard stability margins:- overall control loop assessment;- compensation for dynamic inflow;- in-loop wind speed estimator for fast reaction on wind gusts;- gain scheduling to cope with non linear aerodynamics;- rotor speed setpoint adaptation to utilise kinetic buffering;adaptive inactivity zone;forced rotor speed limitation inshort time extreme conditions;enhanced damping of towerbending and drive-train torsion;optimised partial load control;smooth transients between fulland partial load operation.
FEATURES AND PROPERTIES
*
**
*
**
RESULTS
DELIVERABLES
C / FORTRAN-coded algorithmfor embedding in process computeror linking to aerodynamic code.
Time domain simulation of 3MW turbine
***
400 450 500 550 600 650
10
15
20
rotor effective wind speed (cyan); estimated windspeed (blue); rated wind speed (magenta)
[m/s
]
400 450 500 550 600 6501
2
3
4
5aerodynamic power (red); electric power (blue)
[MW
]
400 450 500 550 600 65010
12
14
16
18rotor speed (blue); rotor speed setpoint (red); rated rotor speed (magenta)
[rpm
]
400 450 500 550 600 6500
5
10
15
pitch angle (blue)
[dg]
400 450 500 550 600 650−4
−2
0
2
4pitching speed (blue)
[dg/
s]
time [s]
