design of wind turbine controllers in simulation x jagath_ireshika_bernad_dimuthu dharshana
TRANSCRIPT
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Design of Wind Turbine Controllers in SimulationX
Subodha Tharangi Ireshika Dimuthu Dharshana Kodippili Arachchige Bernard Sisara Gunawardana Jagath Sri Lal Senanayake
MAS407 Modelling & Simulation of Mechatronic SystemsAutumn 2012
University of Agder, Norway
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Overview of the presentation Introduction Verifying Regions in Wind Power Controlling Design of Controllers Design of Gear Box Simulation Results Demonstration
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Introduction
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Overview of the Wind turbine
Rotor main shaft
Pitch drive
Hub
Main bearing
Generator
Blade
Yaw drives
High-speed Shaft
Gearbox
Wind Sensors Mechanical brake
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Extracted Wind Power
𝜔𝑟𝑜𝑡=Rotor Speed
𝜆=Tip Speed Ratio𝜆=𝑅 .𝜔𝑟𝑜𝑡
𝑢
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Power Regulation
Turbine starts generating power at lower set wind speed. Power increases with increase in wind speed up to a rated wind
speed and rated power. Power output remains constant at rated power between the
rated wind speed and the cut-out speed Turbines stops operating speeds higher than the cut-out speed
due to safety reason.
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Verifying Regions in Wind Power Controlling Cont…
Region I
• This is max-Cp region where the pitch angle is set to zero & the tip speed ratio is maintained at constant by varying the rotor speed.
• The generator torque is controlled so that the rotor speed is proportional to wind speed.
• In this max-Cp region, the generator torque control is active only, while the blade pitch controller is inactive.
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Region II
• This reveals a transition region between other two regions, that is the max-Cp(Region II) and power regulation region (Region III)
• Maximum allowable tip speed is maintained
• Variation of the λ is inversely proportional to the wind speed
• Region transits when the obtainable air power reaches the nominal value
Verifying Regions in Wind Power Controlling
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Region III• The wind turbine power is regulated at the rated power• Rotor speed and generator torque are maintained at
their rated values• The value of Cp has to be controlled so as to be inversely
proportional to to regulate the output power to the rated value
• The power output is maintained at rated value by controlling the pitch angle.
Verifying Regions in Wind Power Controlling Cont…
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DesignOf Controllers
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Desired Control Requirments
ucut-in ub ucucut-off
A B
CD E
nP
ucut-in ub ucucut-off
n
Torque Controller Pitch ControllerPower Rotor Speed
= Nominal Power of the turbine = Nominal speed of the turbine
Wind SpeedWind Speed
Regi
on II
Regi
on I
Regi
on II
I
1. Torque controller 2. Pitch controller
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Design Calculations
If the available power is less than 10% of the nominal power then the wind turbine is at rest.
• Cut-in Speed, Available Wind Power = = 0.1* 2 MW= 0.2 MW
= = 0.2 MW= 5.811
Interval A
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Calculations Cont…
The power factor is kept at its optimum value;
= = = 10 • Rotor Speed
• Maximum Rotor Speed =
= =
Interval B Pow
er
Wind Speed
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Maximum allowable tip speed is maintained. Region is valid until the obtainable air power reaches the nominal value.
=
=
= 0.5*1.2041*π*
2 = 0.5*1.2041*π*
= 12.79
Calculations Cont…Interval C
Wind Speed
Pow
er
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Controllers
1. Generator Torque Controller
Reference Speed (W_ref) if u.y<5.811 then 0 else if u.y<10 then 6*n_gear*u.y/35 else if u.y<12.79 then w_nom else if u.y<=25 then w_nom else 0
Controller (PID1)
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Controllers cont…2. Pitch Controller
Tg_ref if u.y<12.79 then T_gen.y else if u.y<=25 then 2.1e6/W_ref.y else 0
pID_Pitch
Torque Controller
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Overall Controller of the model
Generator Rotor & Gear System
Wind Rotor & Gear System
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Design of Gear Box
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Design of Gear Box Gear Box with Planetary Gear System & Two Helical Gears
The Overall Gear Ratio =
= 94.68 =
6
Planetary X Helical 1 X Helical 2Gear Ratio Gear Ratio Gear Ratio
Max. Speed of the Generator Max. Speed of the Rotor
4 4Selected values
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Design of Gear Box Cont..A. Selection of Planetary Gears
Gear Ratio = = =6
=150, = 60, =30,
B. Selection of Helical Gears For both gear set, the same ratio is selected.
Gear Ratio = = 4
= 18, = 72
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Overall Gear System in SimulationXTorque controller signal
Break controller signal
Wind Torque captured
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SimulationX 3D model of the System
• Diagram view
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SimulationX 3D model of the System
• 3D view
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SimulationX Results
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SimulationX ResultsRegion A Operation [Wind speed is constant at 5 m/s]
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsRegion B Operation [Wind speed is constant at 8 m/s]
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsRegion C Operation [Wind speed is constant at 12 m/s]
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsRegion D Operation [Wind speed is constant at 18 m/s]
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsRegion E Operation [Wind speed is constant at 26 m/s]
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsWind speed is increased from 0 to 25 m/s in 60 seconds and remains at 25 m/s speed
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsWind speed is increased 5 m/s stepwise from 3 to 28 m/s in 90 seconds
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsImpulse Response: Wind speed is increased from 8 to 13 m/s and decreased back to 8 m/s in 1s
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsImpulse Response: Wind speed is increased from 11 to 16 m/s and decreased back to 11 m/s in 1s
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
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SimulationX ResultsImpulse Response: Wind speed is increased from 14 to 19 m/s and decreased back to 14 m/s in 1s
Generator Torque [Nm]
Generator Power [W]
Generator Speed [rad/s]Wind Speed [m/s]
Pitch Angle [deg]
Available Wind Power [W]
Demonstration
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THANK YOU
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Reference Slides
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Control by Regionwise
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Pitch vs Power factor for cut off speed