Abstract

Modern multi-megawatt wind turbines are currently designed as pitch-regulated machines, i.e., machines that use the rotation of the blades (pitching) in order to adjust the aerodynamic torque, such that the power is maintained constantly throughout a wide range of wind speeds when they exceed the design value (rated wind speed). Thus, pitch control is essential for optimal performance. However, the pitching activity is not for free. It introduces vibrations to the tower and blades and generates fatigue loads. Hence, pitch control requires a compromise between wind turbine performance and safety. In the past two decades, many approaches have been proposed to achieve different objectives and to overcome the problems of a wind energy converter using pitch control. The present work summarizes control strategies for problem of wind turbines, which are solved by using different approaches of pitch control. The emphasis is placed on the bibliographic information, but the merits and demerits of the approaches are also included in the presentation of the topics. Finally, very large wind turbines have to simultaneously satisfy several control objectives. Thus, approaches like collective and individual pitch control, tower and blade damping control, and pitch actuator control must coexist in an integrated control system.

Highlights

  • Large wind turbines are almost exclusively implemented by three-bladed horizontalaxis machines with variable speed and variable pitch

  • A linear quadratic regulator (LQR) [119], a linear quadratic Gaussian (LQG) control [116,120], and a robust control system design [77,104] are reported in the literature

  • The results show an important improvement in the load reduction

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Summary

Introduction

Large wind turbines are almost exclusively implemented by three-bladed horizontalaxis machines with variable speed and variable pitch. In Region III, the wind turbine works with overrated wind speed, i.e., the value for which the machine was designed for normal operation. The immediate consequence is that the control action must be fast, which implies a sharp breaking when the set point is reached This leads, on the one hand, to the occurrence of important loads and, on the other hand, introduces rapid disturbances in the thrust force, which results in vibrations in the blades and tower. The control problem in the full load region is undertaken by pitch control, which in turn has to consider simultaneously regulation of rotational speed and power, rapid response in front of turbulence, damping of vibrations, and reduction of loads.

Pitch Control for Speed and Power Regulation
Collective Pitch Control
Control Laws Applied to the CPC
Collective Pitch Fuzzy Control
Collective Pitch Neural Control
Adaption
Collective Pitch Control with Maximum Power Limitation
Estimation of the Effectve Wind Speed
Advantage and Disadvantage of the Controllers
Control for Compensation of the Pitching Activity
Active Tower Damping Control
Active Blade Damping Control
Indivitual Pitch Control Based on Transformation
Indivitual Pitch Control without Transformation
Control Laws Applied to the IPC
Anti-Windup Technique for the Collective Pitch Control
Parameter Tuning for the Pitch Control with Multi-SISO Controllers
Low-Level Control of Pitch Actuators
Models of Pitch Actuators without Control
Conclusions

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