Abstract
This paper describes the classical individual pitch control algorithm. Firstly, transform the out-of-plane bending moment of each blade in the rotational coordinate to the hub loads proportional to the tilt and yaw moment in the fixed coordinate. Secondly, design the PI controllers to minimize the load. And then attach the increment pitch angle to the collective one. Simulations in the Bladed show that the individual pitch control can minimize the loads not only in hub tilt and yaw, but also in blade root.
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