Wind turbine control systems : principles, modelling and gain scheduling design

This book emphasizes the application of Linear Parameter Varying (LPV) gain scheduling techniques to the control of wind energy conversion systems. This reformulation of the classical problem of gain scheduling allows straightforward design procedure and simple controller implementation. From an overview of basic wind energy conversion, to analysis of common control strategies, to design details for LPV gain-scheduled controllers for both fixed- and variable-pitch, this is a thorough and informative monograph.

Author Notes

Fernando D. Bianchi received the B.S. and Dr. Eng. degrees in electronic engineering from National University of La Plata, Argentina. He is currently a Postdoctoral Fellow of the National Research Council of Argentina (CONICET) at Laboratory of Industrial Electronics, Control and Instrumentation (LEICI), Electrical Engineering Department, National University of La Plata. His research interests include the application of gain scheduling techniques and robust control to wind energy systems. Refereed journal articles: 8; refereed articles in conference proceedings: 11.

Hernán De Battista received the B.S. and Dr. Eng. degrees in Electronic Engineering from the National University of LaPlata, Argentina. He is currently Senior Professor of Electronics in the EE Dept. at the same university, and Research Member of the National Research Council of Argentina. His research interests are in the field of nonlinear control applications. He is particularly concerned with renewable energy control systems. Refereed journal articles: 18; refereed articles in conference proceedings: 21.

Ricardo J. Mantz received his BSEE degree in Electronic Engineering from the National University of La Plata, Argentina in 1980. Since then, he has been with the Laboratory of Industrial Electronics Control and Instrumentation (LEICI) at the EE Dept., Faculty of Engineering, National University of La Plata, where he currently serves as Full Professor of Automatic Control. Professor Mantz is also a Research Member of the Scientific Research Commission (CICpBA). His primary area of interest is nonlinear control systems. Refereed journal articles: 42; refereed articles in conference proceedings: 59.

Notation	p. xvii
1 Introduction	p. 1
1.1 Control of Wind Energy Conversion Systems	p. 1
1.2 Gain Scheduling Techniques	p. 3
1.3 Robust Control of WECS	p. 3
1.4 Outline of the Book	p. 4
2 The Wind and Wind Turbines	p. 7
2.1 The Wind	p. 7
2.1.1 The Source of Winds	p. 7
2.1.2 Mean Wind Speed	p. 9
2.1.3 Energy in the Wind	p. 10
2.1.4 Turbulence	p. 11
2.2 The Wind Turbines	p. 12
2.2.1 Types of Rotors	p. 12
2.2.2 Wind Turbine Aerodynamics	p. 13
2.2.3 Force, Torque and Power	p. 19
2.3 Wind Speed Experienced by the Turbine	p. 21
2.3.1 Deterministic Component	p. 24
2.3.2 Stochastic Component	p. 27
3 Modelling of WECS	p. 29
3.1 WECS Description	p. 29
3.2 Mechanical Subsystem	p. 31
3.3 Aerodynamic Subsystem	p. 36
3.4 Electrical Subsystem	p. 37
3.4.1 Directly Coupled Squirrel-cage Induction Generator	p. 37
3.4.2 Stator-controlled Squirrel-cage Induction Generator	p. 39
3.4.3 Rotor-controlled Doubly-fed Induction Generator	p. 40
3.5 Pitch Subsystem	p. 42
3.6 Model of the Entire WECS	p. 43
3.7 Effective Wind Model	p. 45
3.7.1 Mean Wind Speed Model	p. 45
3.7.2 Turbulence Model	p. 46
3.7.3 Effective Wind Speed	p. 47
3.7.4 Effective Wind Speed Simulations	p. 47
4 Control Objectives and Strategies	p. 49
4.1 Control Objectives	p. 50
4.1.1 Energy Capture	p. 50
4.1.2 Mechanical Loads	p. 52
4.1.3 Power Quality	p. 53
4.2 Modes of Operation	p. 54
4.3 Control Strategies	p. 56
4.3.1 Fixed-speed Fixed-pitch	p. 56
4.3.2 Fixed-speed Variable-pitch	p. 60
4.3.3 Variable-speed Fixed-pitch	p. 64
4.3.4 Variable-speed Variable-pitch	p. 68
4.3.5 Some Options to the Previous Control Strategies	p. 69
5 Control of Variable-speed Fixed-pitch Wind Turbines	p. 81
5.1 Introduction to LPV Gain Scheduling Techniques	p. 81
5.2 LPV Model of Fixed-pitch WECS	p. 83
5.3 Open-loop Characteristics	p. 88
5.4 LPV Gain Scheduling Control	p. 91
5.4.1 Controller Objectives	p. 91
5.4.2 Controller Schemes	p. 93
5.4.3 The Controller Design Issue	p. 97
5.4.4 Preliminary Control	p. 99
5.4.5 Control with Damping Injection	p. 102
5.4.6 Dealing with Uncertainties	p. 106
5.4.7 Performance Assessment of other Variable-speed Fixed-pitch Control Strategies	p. 111
6 Control of Variable-speed Variable-pitch Wind Turbines	p. 115
6.1 LPV Model of Variable-pitch WECS	p. 116
6.2 Open-loop Characteristics	p. 121
6.3 LPV Gain Scheduling Control	p. 125
6.3.1 Controller Schemes	p. 125
6.3.2 Modified Control Strategy for Improved Controllability.130
6.3.3 The Controller Design Issue	p. 131
6.3.4 Control in the High Wind Speed Region	p. 134
6.3.5 Control in the Low Wind Speed Region	p. 144
6.3.6 Control over the Full Range of Operational Wind Speeds146
6.3.7 Effects of Uncertainties	p. 148
A Linear Matrix Inequalities	p. 151
A.1 Definition	p. 151
A.2 Semidefinite Programming	p. 153
A.3 Properties	p. 155
B Gain Scheduling Techniques and LPV Systems	p. 159
B.1 Gain Scheduling Techniques	p. 159
B.2 LPV Systems	p. 162
B.2.1 Stability	p. 163
B.2.2 Performance	p. 164
B.3 Synthesis of LPV Gain Scheduling Controllers	p. 167
B.3.1 Synthesis Procedures	p. 168
B.3.2 Computational Considerations	p. 173
B.3.3 Problem Setup	p. 177
B.4 LPV Descriptions of Nonlinear Systems	p. 179
B.5 Robust LPV Gain Scheduling Control	p. 182
B.5.1 Robust Stability	p. 185
B.5.2 Robust Performance	p. 188
B.5.3 Synthesis with Scaling Matrices	p. 188
C Quasi-LPV Model and Control	p. 191
References	p. 195
Index	p. 203

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