DCS Project - Hafsa Ikram - Modelling and Control of Wind Turbine

PROBLEM STATEMENT:
The wind power plant under consideration features a 20 MW wind turbine system.
The primary objective of this project is to regulate the overall power output by
controlling the wind turbine’s pitch angle or varying wind speed. The pitch angle is
adjusted to control the amount of wind energy captured by the turbine blades,
which influences the mechanical power generated. This control is essential to
ensure efficient operation and maintain system stability under varying wind
conditions.
In this control problem, the input signal, R(s), represents the pitch angle of the
blades or wind speed, and the output signal, C(s), is the high-speed shaft angular
rotation of the turbine. The transfer function, G(s), models the relationship between
these input and output signals, providing a mathematical representation of the
turbine's dynamic response. The wind speed and pitch angle serve as primary
inputs, while the shaft rotation is key output, driving the turbine's performance.
The second part of the system involves the electric generator, where the high-speed
shaft's constant angular rotation serves as the input, and the electrical power
output is the result. Regulating these variables is vital for maximizing energy
capture and ensuring grid compatibility, as fluctuations in mechanical and electrical
power can affect the overall efficiency and reliability of the power plant. The
application of such control systems is critical in renewable energy sectors, where
managing power output directly contributes to grid stability, energy efficiency, and
the extended life of wind turbine components.
Inputs:
 The low-speed shaft angular speed (from the rotor)
 Mechanical power generated by the wind turbine blades
Outputs:
 High-speed shaft angular speed (after the gear train)
Input Signals
 Pitch Angle of the Turbine Blades: Controls the amount of wind energy
captured by the blades.
 Wind Speed: Influences the available energy for conversion into mechanical
power.
Output Signals
 High-Speed Shaft Angular Speed: Indicates the speed of the shaft
connected to the generator, crucial for generating the required electrical
power.
R(s) G(s) = C(s)/R(s) C(s)

INTRODUCTION AND BACKGROUND:
The wind turbine transforms wind energy into rotational energy using its airfoil-
shaped blades. This rotational energy is then converted into electrical energy
through an electric generator, which is typically delivered to the utility grid at the
distribution level.
The power, Pw in the wind is the time derivative of the kinetic energy and is given
by:
1 3
Pw= pA u
2
A = cross sectional area of the turbine
p = air density
u = wind speed
The portion of power Pm extracted from the available wind power Pw by real-world
turbines is represented by the performance coefficient, Cp.
Pm=CpPw
The value of Cp varies with the wind speed, the rotational speed of the turbine, the
rotor
pitch angle, and the turbine blade parameters.
The tip speed ratio, λ, is a variable that combines the effects of the rotational speed
and the wind speed.
wR
λ=
u
R = maximum radius of turbine
The blade pitch angle (β) is the angle at which a wind turbine's blades are tilted
relative to the wind direction. It controls how much wind the blades capture by
adjusting their orientation. By increasing or decreasing the pitch angle, the turbine
can regulate its rotational speed and power output, protect the turbine during high
winds, and optimize energy captured under varying wind conditions.
The wind turbine rotor performance can also be evaluated as a function of the
coefficient of torque Cq. The wind turbine power, Pw, is equal to the product of the
torque, T and the rotational speed ω. It follows that the torque coefficient, Cq, can
be related to the power coefficient, Cp:
Cp ( λ , β )=λCq(λ , β )
The aerodynamic torque, TA, that turns the rotor shaft is:
1 2
Ta= pARCq( λ , β )u
2
The air density, ρ, swept area of the wind turbine, A, and the maximum radius of
the wind turbine R, are constant.
The upstream wind speed is given by u. The torque coefficient, Cq, just like the
coefficient of performance, Cp, is a highly non-linear function of tip-speed ratio, λ,
and blade-pitch angle, β.
GEARBOX:
The rotor's angular speed, w, is typically not fast enough to drive the generator to
produce the required electrical frequency, such as 50Hz. Gear trains are used in
rotational systems to increase or decrease mechanical speeds. In wind turbines,
gear trains are employed to step up the angular speed of the low-speed shaft to
match the higher speed of the shaft connected to the generator.
GENERATORS:
The generator converts mechanical energy into electrical energy. It consists of three
main components: namely, the stator, the rotor and the exciter.
MODELLING & TRANSFER FUNCTION:
The wind turbine plant model was divided into two main parts.
1. The first part was the wind turbine, which included a turbine rotor on a low-
speed shaft, a gearbox and high-speed shaft. The inputs for this part of the
plant were the wind speed and the blade pitch angle while the outputs were
the high-speed shaft angular rotation and the mechanical power, Pm.
2. The second part was the electric generator whose input was constant angular
rotation from the turbine plant and whose output was electrical power.
Pm = TA * w
The aerodynamic torque, TA, must be opposed by an equal and opposite load
torque, TL, for the turbine to operate at a steady speed. If TA is greater than TL, the
turbine will accelerate, while if TA is less than TL, the turbine will decelerate. The
aerodynamic torque, TA, must be opposed by an equal and opposite load torque, TL,
for the turbine to operate at steady speed. If TA is greater than TL, the turbine will
accelerate, while if TA is less than TL, the turbine will decelerate.
JA * wT = TA - TL
TL is the mechanical torque necessary to turn the generator and was assumed to be
a constant value.
The following six steps show the sequence of events in the block diagram:
1. Wind and blade pitch angles are input into wind turbine plant, which causes the
rotor to spin.
2. The low-speed shaft angular speed is fed back and compared to reference low
speed shaft angular speed.
3. The angular speed error is input to the controller, which commands a change in
blade-pitch angle.
4. A new blade pitch angle is applied to the actuator.
5. The actuator changes the blade pitch angle.
The aerodynamic torque, TA, must be opposed by an equal and opposite load
torque, TL, for the turbine to operate at steady speed. If TA is greater than TL, the
turbine will accelerate, while if TA is less than TL, the turbine will decelerate.
Equation 3.2 gives this mathematical description, where JT is the equivalent
combined moment of inertia of the rotor, gear reducer and both the low-speed and
high-speed shafts.
LINEARIZATION: engineers and scientists to use

Linearization is the process of linear control techniques, making it
approximating a nonlinear system easier to analyze system behavior,
by a linear model around a specific design controllers, and predict
operating point or equilibrium state. responses to inputs, even when the
This is achieved by calculating the actual system exhibits nonlinear
derivative (slope) of the nonlinear characteristics.
function at that point, which
simplifies analysis and control
design. Linearization allows

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PROBLEM STATEMENT:

R(s) G(s) = C(s)/R(s) C(s)

MODELLING & TRANSFER FUNCTION:

LINEARIZATION: engineers and scientists to use

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