Robust Adaptive Fault Tolerant Pitch Control of Wind Turbines

Inaccuracy in linear modeling of wind turbines, effects of wind speed disturbance, and faults in components of the closed-loop system increase the need for advanced controllers in wind energy conversion systems. In this article, an adaptive pitch controller is developed to regulate the generator speed in region 3. Also, an adaptive feed-forward term is augmented to improve the generator speed regulation in presence of the wind speed disturbance. Parameters of the controller are adaptively adjusted based on the improved dead-zone modification rule that guarantees closed-loop stability and zero regulation error in presence of the unstructured modeling uncertainties, step-like wind speed disturbance, and faults in pitch actuator. Proposed controller is compared to the baseline proportional-integral controller for controls advanced research turbine. Simulation results confirm the improvement in closed-loop regulation performance with proposed robust adaptive controller.

[1]  Poul Ejnar Sørensen,et al.  Control design for a pitch-regulated, variable speed wind turbine , 2005 .

[2]  M.E.H. Benbouzid,et al.  Sliding Mode Power Control of Variable Speed Wind Energy Conversion Systems , 2008, 2007 IEEE International Electric Machines & Drives Conference.

[3]  Mario García-Sanz Quantitative Robust Control Engineering: Theory and Experimental Results on Wind Turbines , 2004 .

[4]  A. D. Wright,et al.  Advanced Control Design for Wind Turbines; Part I: Control Design, Implementation, and Initial Tests , 2008 .

[5]  André Martinez,et al.  Multiobjetive H2/H control of a pitch regulated wind turbine for mechanical load reduction , 2006 .

[6]  Niels Kjølstad Poulsen,et al.  DK-iteration robust control design of a wind turbine , 2011, 2011 IEEE International Conference on Control Applications (CCA).

[7]  Mark J. Balas,et al.  Generator speed regulation in the presence of structural modes through adaptive control using residual mode filters , 2011 .

[8]  Mohamed El Hachemi Benbouzid,et al.  High-Order Sliding-Mode Control of Variable-Speed Wind Turbines , 2009, IEEE Transactions on Industrial Electronics.

[9]  Vicenç Puig,et al.  Fault Detection and Isolation of a Real Wind Turbine using LPV Observers , 2011 .

[10]  Peter Fogh Odgaard,et al.  Fault tolerant control of wind turbines: a benchmark model , 2009 .

[11]  Ronilson Rocha,et al.  A multivariable H/sub /spl infin// control for wind energy conversion system , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[12]  A. D. Wright,et al.  Modern Control Design for Flexible Wind Turbines , 2004 .

[13]  Geng Yang,et al.  Output Power Control for Variable-Speed Variable-Pitch Wind Generation Systems , 2010, IEEE Transactions on Energy Conversion.

[14]  Jakob Stoustrup,et al.  Robust and fault-tolerant linear parameter-varying control of wind turbines , 2011 .

[15]  Ali Khaki-Sedigh,et al.  Improved Dead Zone Modification for Robust Adaptive Control of Uncertain Linear Systems Described by Input-Output Models With Actuator Faults , 2011, IEEE Transactions on Automatic Control.

[16]  Fernando D. Bianchi,et al.  Wind Turbine Control Systems: Principles, Modelling and Gain Scheduling Design , 2006 .

[17]  M. M. Hand Variable-Speed Wind Turbine Controller Systematic Design Methodology: A Comparison of Non-Linear and Linear Model-Based Designs , 1999 .

[18]  T. Funabashi,et al.  Robust Predictive Control of Variable-Speed Wind Turbine Generator by Self-Tuning Regulator , 2007, 2007 IEEE Power Engineering Society General Meeting.

[19]  Vahid Rezaei LIDAR-based robust wind-scheduled control of wind turbines , 2014, 2014 American Control Conference.

[20]  Tomonobu Senjyu,et al.  Output power leveling of wind turbine Generator for all operating regions by pitch angle control , 2006 .

[21]  Houria Siguerdidjane,et al.  Comparison between linear and nonlinear control strategies for variable speed wind turbines , 2010 .

[22]  Peter Fogh Odgaard,et al.  Fault-Tolerant Control of Wind Turbines: A Benchmark Model , 2009, IEEE Transactions on Control Systems Technology.

[23]  Vahid Rezaei Active robust control of wind turbines , 2014 .

[24]  N.K. Poulsen,et al.  A disturbance decoupling nonlinear control law for variable speed wind turbines , 2007, 2007 Mediterranean Conference on Control & Automation.

[25]  Karl Stol,et al.  Simulating Feedback Linearization control of wind turbines using high‐order models , 2009 .

[26]  Mark J. Balas Adaptive Disturbance Tracking Control for Large Horizontal Axis Wind Turbines in Variable Speed Region II Operation , 2010 .

[27]  Kathryn E. Johnson,et al.  Robust fault tolerant pitch control of wind turbines , 2013, 52nd IEEE Conference on Decision and Control.

[28]  K. Busawon,et al.  Estimation of the power coefficient in a wind conversion system , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[29]  H. Siguerdidjane,et al.  Nonlinear control of variable speed wind turbines for power regulation , 2005, Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005..

[30]  Karl Stol,et al.  Scheduled Model Predictive Control of a Wind Tur bine , 2009 .

[31]  Mattias Nyberg,et al.  Automated design of an FDI system for the wind turbine benchmark , 2012 .

[32]  Yuichi Chida,et al.  Pitch angle control of wind turbine generator using less conservative robust control , 2009, 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC).

[33]  Susan A. Frost,et al.  Direct adaptive control of a utility‐scale wind turbine for speed regulation , 2009 .

[34]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[35]  Mark J. Balas,et al.  Adaptive Disturbance Tracking Control for Large Horizontal Axis Wind Turbines in Variable Speed Transition Operation , 2010 .

[36]  Mark J. Balas,et al.  Periodic Disturbance Accommodating Control for Blade Load Mitigation in Wind Turbines , 2003 .

[37]  Abdul Qayyum Khan,et al.  Observer-based FDI Schemes for Wind Turbine Benchmark , 2011 .

[38]  M Soliman,et al.  Multiple model MIMO predictive control for variable speed variable pitch wind turbines , 2010, Proceedings of the 2010 American Control Conference.

[39]  T. Funabashi,et al.  Output power leveling of wind turbine generator by pitch angle control using adaptive control method , 2004, 2004 International Conference on Power System Technology, 2004. PowerCon 2004..

[40]  Fernando D. Bianchi,et al.  Control of variable‐speed wind turbines by LPV gain scheduling , 2004 .

[41]  Cole Boulevard,et al.  Disturbance Tracking and Blade Load Control of Wind Turbines in Variable-Speed Operation , 2003 .

[42]  Lucy Y. Pao,et al.  Control of wind turbines: Past, present, and future , 2009, 2009 American Control Conference.

[43]  Mario Garcia-Sanz,et al.  Beyond the linear limitations by combining switching and QFT: Application to wind turbines pitch control systems , 2009 .