Abstract
AbstractThis paper investigates the dynamic modeling and robust control of an underactuated floating wind turbine for vibration suppression. The offshore wind turbine is equipped with a tuned mass damper on the floating platform. The Lagrange's equation is employed to establish the limited degree‐of‐freedom dynamic model. A novel disturbance observer‐based hierarchical sliding mode control system is developed for mitigating loads of the underactuated floating wind turbine. In the proposed control scheme, two prescribed performance nonlinear disturbance observers are developed to estimate and counteract unknown disturbances, where the load induced by wave is considered as a mismatched disturbance while the load caused by wind is treated as a matched disturbance. The hierarchical sliding mode controller regulates the states of such an underactuated nonlinear system. In particular, the first‐order sliding mode differentiator is used to avoid the tedious analytic computation in the sliding mode control design. The stability of the whole closed‐loop system is rigorously analyzed, and some sufficient conditions are derived to guarantee the convergence of the states for the considered system. Numerical simulations deployed on both the design model and the National Renewable Energy Laboratory 5‐MW wind turbine model are provided, which demonstrate great effectiveness and strong robustness of the proposed control scheme.
Highlights
Wind power has drawn more and more attention in recent years,[1,2,3] with an increasing number of offshore wind turbines installed
From (12)–(14), it is clear to see that the floating offshore wind turbine with the tuned mass damper (TMD) configuration is a complex underactuated nonlinear coupled system with both matched and mismatched disturbances
To verify the active control performance, the proposed disturbance observer-based hierarchical sliding mode control algorithm is tested by the National Renewable Energy Laboratory (NREL) 5-MW wind turbine model based on the FAST code, where the optimal parameters of the TMD are given by ma = 400 000 kg, ka = 103 019 N/m, and ca = 60 393 N/(m/s).[12]
Summary
Wind power has drawn more and more attention in recent years,[1,2,3] with an increasing number of offshore wind turbines installed. KEYWORDS vibration control, wind turbine, hierarchical sliding mode control, mismatched disturbance, underactuated nonlinear systems The TMD-based floating offshore wind turbine is a more complex underactuated nonlinear coupled system with both matched and mismatched disturbances.
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