Abstract

This article demonstrates a strategy to design multivariable and multi-objective controllers based on the H∞ norm reduction applied to a wind turbine. The wind turbine model has been developed in the GH Bladed software and it is based on a 5 MW wind turbine defined in the Upwind European project. The designed control strategy works in the above rated power production zone and performs generator speed control and load reduction on the drive train and tower. In order to do this, two robust H∞ MISO (Multi-Input Single-Output) controllers have been developed. These controllers generate collective pitch angle and generator torque set-point values to achieve the imposed control objectives. Linear models obtained in GH Bladed 4.0 are used, but the control design methodology can be used with linear models obtained from any other modelling package. Controllers are designed by setting out a mixed sensitivity problem, where some notch filters are also included in the controller dynamics. The obtained H∞ controllers have been validated in GH Bladed and an exhaustive analysis has been carried out to calculate fatigue load reduction on wind turbine components, as well as to analyze load mitigation in some extreme cases. The analysis compares the proposed control strategy based on H∞ controllers to a baseline control strategy designed using the classical control methods implemented on the present wind turbines.

Highlights

  • The continuous increase of the size of wind turbines, due to the demand of higher power production installations, has led to new challenges in the design of the turbines

  • The two H∞ MISO controllers are included in the External Controller in GH Bladed to do time domain simulations using the Upwind wind turbine non-linear model

  • The C1 and C2 control strategies are included in the External Controller to carry out the control strategies in the above rated power production zone

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Summary

Introduction

The continuous increase of the size of wind turbines, due to the demand of higher power production installations, has led to new challenges in the design of the turbines. Today’s strategies trend towards being multivariable and multi-objective in order to fulfill the numerous control design specifications. One important specification is to mitigate loads in the turbine components to increase their life time. This can be done through the components mechanical design, the introduction of new materials or by improving the control itself. The behaviour of a wind turbine is non-linear, which implies that the designed control performance has to be robust

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