Active Structure Control of Floating Wind Turbine Using PID Controller

Abstract

In the harsh ocean environment, random wind wave combined loads make the platform and tower top of the wind turbine vibrate greatly, which seriously threatens the safety of the floating wind turbine structure. In this paper, a tuned mass damper (TMD) with limited stroke is placed longitudinally in the cabin of a barge type floating wind turbine, and active control force is applied to it to form an active and passive integrated vibration control system (HMD). Firstly, based on Kane's Dynamics, the motion equation of wind turbine is derived. Combined with the elastic dynamic motion equation of the HMD structure system with one degree of freedom, the general form of the complete nonlinear time-domain motion equation coupled with the HMD system and the wind turbine system is derived. Then, for the nonlinear model, TMD parameters were optimized by minimizing the cost function, and a PID controller was designed by introducing acceleration feedback to obtain the active force. Finally, the suppression effects of TMD passive control and HMD integrated control on the dynamic response of barge type floating wind turbine are simulated under combined wind and wave loads. The results show that compared with the passive control, the vibration reduction effect of the HMD integrated control is significantly improved under the constraints of TMD stroke. Moreover, the vibration reduction effect of PID controller given in this paper is better than LQR controller.