wind turbine control design to reduce capital costs p. jeff darrow(colorado school of mines) alan...
DESCRIPTION
Introduction - Work Site(s) This research in this project is being performed at two sites The National Wind Technology Center (NREL) Colorado School of MinesTRANSCRIPT
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WIND TURBINE CONTROL DESIGN TO REDUCE CAPITAL COSTS
P. Jeff Darrow (Colorado School of Mines)Alan Wright (National Renewable Energy Laboratory)Kathryn E. Johnson (Colorado School of Mines)
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Overview Introduction Wind Turbine Description Baseline Controller Description Design Load Cases (DLCs) Preliminary Results Conclusions Future Work
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Introduction - Work Site(s) This research in this project is being
performed at two sites The National Wind Technology Center
(NREL) Colorado School of Mines
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Introduction - Motivation Increasing demand for wind energy
Wind turbines operate in extreme conditions Experiencing both fatigue and extreme loads
IEC dictates a minimum design life of 20 years
The current design approach is to use robust components
This causes a high capital cost of each wind turbine
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Introduction – Goals Perform a full loads case analysis
Help guide wind turbine control research Identify design driving events and the
responsible factors Develop advanced control techniques to
mitigate prominent loads
Show a potential to reduce capital costs with controller design
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Introduction - General This research is still in progress
Results are specific to the CART3
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Controls Advanced Research Turbine
Wind Turbine Description
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Regions of Operation
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Controls Advanced Research Turbines The NWTC has two primary research turbines Model: Westinghouse WTG-600 Originally from a wind farm in Oahu, Hawaii However, they are not ordinary (industry)
turbines Specially outfitted with extra sensors and
actuators for research purposes Original pitch system replaced New generator system added New control system added
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Control Actuators Blade pitch
Limit of 18˚/second
Generator torque Limit of 3581 N*m
Yaw Limit of 0.5 ˚/second
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CART3 Characteristics 3 bladed, upwind Active yaw Rated power: ~600 kW Rated torque: 3581 N*m Class IIB rating by IEC Rated wind speed: 13.5 m/s Rated rotor speed: 41.7
rpm Cp,max: 0.4666
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CART3 Model for Simulations
Three main components Rotor Tower Nacelle
Modeled with the NREL design-code FAST Uses many DOF’s to
model turbine dynamics
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1st & 2nd Blade Flap Mode
1st & 2nd Tower Fore-Aft Mode
1st & 2nd Tower Side-toSide Mode
1st Blade Edge Mode
Nacelle Yaw
Generator Azimuth
Shaft Torsion
Platform Yaw
Platform Roll
Platform Pitch
Platform Heave
Platform Sway
Platform Surge
CART Model - DOFs
1st TowerSide-to-Side ModeShaft
Torsion
1st TowerFore-Aft Mode
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• Design• Implementation• Verification
Baseline Controller Description
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Baseline Controller Design Baseline controller works in regions 2,
2.5, and 3 Region 2 uses torque control: Regions 2.5 provides a linear torque
curve Region 3 uses a PID type collective pitch
controller
2 k
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Baseline Controller Implementation The fore mentioned control scheme is
implemented using a DLL linked to the FAST model
Region 2 control is built into the FAST simulator
Region 3 control is defined in the linked DLL
Operation of overall controller was verified for proper operation
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Baseline Controller Verification
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Baseline Controller Verification
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Design Load Cases
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Design Load Cases (DLC’s) Defined by IEC Document 61400-1
Provides load cases to predict turbine loading
Focus on cases that do not require controller logic for start-up/shutdown
Each applicable case applied to the CART3 model Resulting loads observed
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DLCs of InterestDLC Winds Controls/Events
Model Speed1) Power Production1.1 NTM Vin < Vhub < Vout Normal Operation1.3 ETM Vin < Vhub < Vout Normal Operation
1.4 ECD Vhub = Vr, Vr ±2m/s Normal Operation: ±Δ Wind Direction
1.5 EWS Vin < Vhub < Vout Normal Operation: ±Δ Vert & Horz Shear1.6 NTM Vin < Vhub < Vout Normal Operation2) Power Production w/ Occurance of Fault
2.1 NTM Vhub = Vr, Vout Pitch Runaway Shutdown2.3 EOG Vhub = Vr, Vr ±2m/s, Vout Loss of Load Shutdown6) Parked6.1a EWM Vhub = 0.95*V50 Yaw = 0°, ±8°
6.2a EWM Vhub = 0.95*V50 Loss of Grid ; -180° < Yaw <180°6.3a EWM Vhub = 0.95*V1 Yaw misalignment of +30°7) Parked w/ Occurance of Fault7.1a EWM Vhub = 0.95*V1 Seized Blade; Yaw = 0°, 8°
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Only a representative subset of the total available results is presented
here
Preliminary Results
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DLC 1.3 -- Power Production-- Extreme Turbulence Model-- No faults
0 100 200 300 400 500 6006
7
8
9
10
11
12
13
14
15
16
Time (sec)
Win
dVxi
(m/se
c)
Time Series Plots of Wind Speed
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DLC 1.3 -- Power Production-- Extreme Turbulence Model-- No faults
0 100 200 300 400 500 600
200
400
600
Time (sec)
Root
Myb1
(kN·
m)
0 100 200 300 400 500 600
-100
0
100
200
Time (sec)
Root
Mxb1
(kN·
m)
Time Series Plots of Blade 1 Moments
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DLC 1.3 -- Power Production-- Extreme Turbulence Model-- No faults
0 100 200 300 400 500 600
60
80
100
120
140
160
Time (sec)
LSSh
ftTq
(kN·
m)
Time Series Plots of Shaft Torque
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DLC 1.3 -- Power Production-- Extreme Turbulence Model-- No faults
0 100 200 300 400 500 6000
200400
Time (sec)TwHt
1MLx
t (kN
·m)
0 100 200 300 400 500 6002000250030003500
Time (sec)TwHt
1MLy
t (kN
·m)
0 100 200 300 400 500 600-2000
200400
Time (sec)TwrB
sMxt
(kN·
m)
Time Series Plots of Tower Moments
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DLC 2.3 -- Power Production-- Extreme Operating Gust-- Internal Electrical System Fault
30 40 50 60 70 80 9010
11
12
13
14
15
Time (sec)
Win
dVxi
(m/se
c)
Time Series Plots of Wind Speed
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DLC 2.3 -- Power Production-- Extreme Operating Gust-- Internal Electrical System Fault
30 40 50 60 70 80 90
300350400450
Time (sec)
Root
Myb1
(kN·
m)
30 40 50 60 70 80 90-100
0
100
Time (sec)
Root
Mxb1
(kN·
m)
Time Series Plots of Blade 1 Moments
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DLC 2.3 -- Power Production-- Extreme Operating Gust-- Internal Electrical System Fault
30 40 50 60 70 80 900
20
40
60
80
100
120
140
160
Time (sec)
LSSh
ftTq
(kN·
m)
Time Series Plots of Shaft Torque
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DLC 2.3 -- Power Production-- Extreme Operating Gust-- Internal Electrical System Fault
30 40 50 60 70 80 900
200400
Time (sec)TwHt
1MLx
t (kN
·m)
30 40 50 60 70 80 900
100020003000
Time (sec)TwHt
1MLy
t (kN
·m)
30 40 50 60 70 80 900
200400600
Time (sec)TwrB
sMxt
(kN·
m)
Time Series Plots of Tower Moments
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DLC 6.3 -- Parked-- Extreme Wind Model-- 30° Yaw misalignment
0 100 200 300 400 500 6006
7
8
9
10
11
12
13
14
15
Time (sec)
Win
dVxi
(m/se
c)Time Series Plots of Wind Speed
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DLC 6.3 -- Parked-- Extreme Wind Model-- 30° Yaw misalignment
0 100 200 300 400 500 600
3040506070
Time (sec)
Root
Myb1
(kN·
m)
0 100 200 300 400 500 600-5
0
5
10
Time (sec)
Root
Mxb1
(kN·
m)
Time Series Plots of Blade 1 Moments
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DLC 6.3 -- Parked-- Extreme Wind Model-- 30° Yaw misalignment
0 100 200 300 400 500 600
0
5
10
15
20
25
30
35
Time (sec)
LSSh
ftTq
(kN·
m)
Time Series Plots of Shaft Torque
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DLC 6.3 -- Parked-- Extreme Wind Model-- 30° Yaw misalignment
0 100 200 300 400 500 6000
200400600
Time (sec)TwHt
1MLx
t (kN
·m)
0 100 200 300 400 500 600400600800
10001200
Time (sec)TwHt
1MLy
t (kN
·m)
0 100 200 300 400 500 6000
200400600
Time (sec)TwrB
sMxt
(kN·
m)
Time Series Plots of Tower Moments
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Conclusions & Future Work
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Conclusions The CART3 had been successfully modeled
in FAST
The baseline controller has been developed and implemented in simulation
All DLCs of interest have been simulated
We currently have all of the data needed to conduct an in depth analysis
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Future Work Continue work to quantify design driving
events
Design and simulate controllers to handle prominent cases
Re-run the suite of DLCs to show new results
We hope to show a potential to reduce the capital costs of a wind turbine by controller design
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Acknowledgements Marshall Buhl
NREL Jason Jonkman
NREL
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Have a wonderful day
Thank You