Fatigue Load Reduction Research Articles

Frequency-Weighted Model Predictive Control of Trailing Edge Flaps on a Wind Turbine Blade

This paper presents the load reduction achieved with trailing edge flaps during a full-scale test on a Vestas V27 wind turbine. The trailing edge flap controller is a frequency-weighted linear model predictive control (MPC) where the quadratic cost consists of costs on the zero-phase filtered flapwise blade root moment and trailing edge flap deflection. Frequency-weighted MPC is chosen for its ability to handle constraints on the trailing edge flaps deflection, and to target at loads with given frequencies only. The controller is first tested in servo-aeroelastic simulations, before being implemented on a Vestas V27 wind turbine. Consistent load reduction is achieved during the full-scale test. An average of 13.8% flapwise blade root fatigue load reduction is measured.

Load alleviation of wind turbines by yaw misalignment

ABSTRACTVertical wind shear is one of the dominating causes of load variations on the blades of a horizontal axis wind turbine. To alleviate the varying loads, wind turbine control systems have been augmented with sensors and actuators for individual pitch control. However, the loads caused by a vertical wind shear can also be affected through yaw misalignment. Recent studies of yaw control have been focused on improving the yaw alignment to increase the power capture at below rated wind speeds. In this study, the potential of alleviating blade load variations induced by the wind shear through yaw misalignment is assessed. The study is performed through simulations of a reference turbine. The study shows that optimal yaw misalignment angles for minimizing the blade load variations can be identified for both deterministic and turbulent inflows. It is shown that the optimal yaw misalignment angles can be applied without power loss for wind speeds above rated wind speed. In deterministic inflow, it is shown that the range of the steady‐state blade load variations can be reduced by up to 70%. For turbulent inflows, it is shown that the potential blade fatigue load reductions depend on the turbulence level. In inflows with high levels of turbulence, the observed blade fatigue load reductions are small, whereas the blade fatigue loads are reduced by 20% at low turbulence levels. For both deterministic and turbulent inflows, it is seen that the blade load reductions are penalized by increased load variations on the non‐rotating turbine parts. Copyright © 2013 John Wiley & Sons, Ltd.

Computationally Inexpensive Approach for Pitch Control of Offshore Wind Turbine on Barge Floating Platform

Offshore floating wind turbine (OFWT) has gained increasing attention during the past decade because of the offshore high-quality wind power and complex load environment. The control system is a tradeoff between power tracking and fatigue load reduction in the above-rated wind speed area. In allusion to the external disturbances and uncertain system parameters of OFWT due to the proximity to load centers and strong wave coupling, this paper proposes a computationally inexpensive robust adaptive control approach with memory-based compensation for blade pitch control. The method is tested and compared with a baseline controller and a conventional individual blade pitch controller with the “NREL offshore 5 MW baseline wind turbine” being mounted on a barge platform run on FAST and Matlab/Simulink, operating in the above-rated condition. It is shown that the advanced control approach is not only robust to complex wind and wave disturbances but adaptive to varying and uncertain system parameters as well. The simulation results demonstrate that the proposed method performs better in reducing power fluctuations, fatigue loads and platform vibration as compared to the conventional individual blade pitch control.

Advanced Representation of Tubular Joints in Jacket Models for Offshore Wind Turbine Simulation

Jacket substructures for offshore wind turbines show strong potentials in water depths from 25 up to 70m. A review of state-of-practice and enhanced state-of-the-art modeling of offshore wind turbine jackets is conducted regarding detailed joint properties. The state-of-the-art approach takes advantage of an accurate description of the local joint behavior by use of superelements, enabling more accurate load simulations. Studies conducted in the past highlighted both strong benefits as well as shortcomings of this approach, whereas the drawbacks were mainly related to the size of superelements and the application of local wave loading. This work develops a smart sizing for detailed joint models taking into account the loading and location of the jacket joints. A concept of local wave loading is presented as well. Advice on recommendable parameters is given and enables an optimized superelement application for jacket substructures. As an example the potential for fatigue load reduction is shown using the NREL offshore 5-MW baseline wind turbine and the OC4 reference jacket. The predicted fatigue lifetime was increased by about 15%.

Smart dynamic rotor control using active flaps on a small‐scale wind turbine: aeroelastic modeling and comparison with wind tunnel measurements

ABSTRACTIn this paper, the proof of concept of a smart rotor is illustrated by aeroelastic simulations on a small‐scale rotor and comparison with wind tunnel experiments. The application of advanced feedback controllers using actively deformed flaps in the wind tunnel measurements is shown to alleviate dynamic loads leading to considerable fatigue load reduction. The numerical method for aeroelastically simulating such an experiment is described, together with the process of verifying the methods for accurate prediction of the load reduction potential of such concepts. The small‐scale rotor is simulated using the aeroelastic tool, load predictions are compared with the wind tunnel measurements, and similar control concepts are compared and evaluated in the numerical environment. Conclusions regarding evaluation of the performance of smart rotor concepts for wind turbines are drawn from this threefold research investigation (simulation, experiment and comparison). Copyright © 2012 John Wiley & Sons, Ltd.

Control of wind turbines for fatigue loads reduction and contribution to the grid primary frequency regulation

The objectives of this work have been to design and analyze a discrete Linear Quadratic Gaussian (LQG) controller which contributes to the primary frequency control of the grid and to the reduction of the drive-train fatigue loads of a Wind Turbine (WT). The WT rotational speed and electrical power are controlled using the generator torque and the pitch angle as control variables. The rotational speed and electrical power references are generated in a higher control level depending on the wind speed and a frequency droop.The controller has been designed in Matlab® and has been simulated in Simulink®, in some linear simulation models corresponding to different operating points. These linear models have been obtained from a 5 MW WT model implemented in the commercial wind turbine simulation tool Bladed. The results validate the efficiency of the designed controller, in comparison with another discrete LQG controller which has not been designed to reduce drive-train fatigue loads.

H∞ Based Control for Load Mitigation in Wind Turbines

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.

Model predictive control of a wind turbine using short‐term wind field predictions

ABSTRACTAs wind turbines become larger and hence more flexible, the design of advanced controllers to mitigate fatigue damage and optimise power capture is becoming increasingly important. The majority of the existing literature focuses on feedback controllers that use measurements from the turbine itself and possibly an estimate or measurement of the current local wind profile. This work investigates a predictive controller that can use short‐term predictions about the approaching wind field to improve performance by compensating for measurement and actuation delays.Simulations are carried out using the FAST aeroelastic design code modelling the NREL 5 MW reference turbine, and controllers are designed for both above rated and below rated wind conditions using model predictive control. Tests are conducted in various wind conditions and with different future wind information available. It is shown that in above rated wind conditions, significant fatigue load reductions are possible compared with a controller that knows only the current wind profile. However, this is very much dependent on the speed of the pitch actuator response and the wind conditions. In below rated wind conditions, the goals of power capture and fatigue load control were considered separately. It was found that power capture could only be improved using wind predictions if the wind speed changed rapidly during the simulation and that fatigue loads were not consistently reduced when wind predictions were available, indicating that wind predictions are of limited benefit in below rated wind conditions. Copyright © 2012 John Wiley & Sons, Ltd.

Model predictive control for wind turbines with distributed active flaps: incorporating inflow signals and actuator constraints

ABSTRACTThis paper describes the implementation of system identification and controller design techniques using model predictive control (MPC) for wind turbines with distributed active flaps for load control. An aeroservoelastic model of the 5 MW NREL/Upwind reference wind turbine, implemented in the code DU_SWAMP, is used in an industry‐based MPC controller design cycle, involving the use of dedicated system identification techniques. The novel multiple‐input multiple‐output MPC controllers, which incorporate flap actuator constraints and the use of local inflow measurement signals, are designed and implemented for various operating points. The controllers are evaluated in standard power production load cases and fatigue load reductions up to 27.3% are achieved. The distributed flaps controller scheme is also compared with simpler single‐flap single‐input single‐output and individual pitch controller schemes. Copyright © 2011 John Wiley & Sons, Ltd.

Design, Optimization and Analysis of Hydraulic Soft Yaw System for 5 MW Wind Turbine

As wind turbines increase in size and the demands for lifetime also increases, new methods of load reduction needs to be examined. One method is to make the yaw system of the turbine soft/flexible and hence dampen the loads to the system, which is the focus of the current paper. The paper first presents work previous done on this subject with focus on hydraulic yaw systems. By utilizing the HAWC2 aeroelastic code and an extended model of the NREL 5MW turbine combined with a simplified linear model of the turbine, the parameters of the soft yaw system are optimized. Results show that a significant reduction in fatigue and extreme loads to the yaw system and rotor shaft are possible, when utilizing the soft yaw drive concept compared to the original stiff yaw system. The physical demands of the hydraulic yaw system are furthermore examined for a life time of 20 years. The duty cycles, based on the extrapolated loads, show that it is possible to construct a hydraulic soft yaw system, which is able to reduce the loads on the wind turbine significantly.

Adding feedforward blade pitch control to standard feedback controllers for load mitigation in wind turbines

Combined feedback/feedforward blade pitch control is compared to industry standard feedback control when simulated in realistic turbulent winds. The feedforward controllers are designed to reduce fatigue loads, increasing turbine lifetime and therefore reducing the cost of energy. Two feedforward designs are studied: collective-pitch model-inverse feedforward using a non-causal series expansion and individual-pitch gain-scheduled shaped compensator. The input to the feedforward controller is a measurement of incoming wind speed, which could potentially be provided by LIDAR. Three of the designs reduce structural loading compared to standard feedback control, without reducing power production.

Variable Speed-Variable Pitch Controllers for Aero-Servo-Elastic Simulations of Wind Turbine Support Structures

Site-specific fatigue evaluation of wind turbine support structures has been required by Japanese domestic rule since the revision of the Building Code in 2007. Fatigue loads are strongly affected by wind turbine controllers, as well as by the characteristics of wind and the wind turbines themselves. It is difficult for anyone but expert wind turbine controller engineers to design wind turbine controllers. For this project, blade pitch and generator torque controllers for a typical land-based variable speed- and pitch-controlled wind turbine were formulated using a Loop-Shaping Method, considering wind turbine characteristics such as rotor aerodynamics, tower vibration, and control systems. Controller gains were calculated by defining the gain cross frequency and phase margin for pitch control as well as the peak gain and damping ratio for generator torque control, without introducing control design tools such as the Bode diagram or the Nyquist diagram. Controllers that are compatible with the fatigue loads of towers and blades as well as pitch rate were investigated through case studies of three kinds of towers. Fatigue loads of the support structures were shown to depend not on gain cross frequencies themselves but on those frequencies first normalized by tower mode-bending frequencies. The normalized gain cross frequencies of pitch controllers were recommended to be about 20%. Furthermore, gain scheduling, which reduces pitch commands to filtered pitch angles, was shown to be effective in reducing fatigue loads with improved characteristics.

Structural control of floating wind turbines

The application of control techniques to offshore wind turbines has the potential to significantly improve the structural response, and thus reliability, of these systems. Passive and active control is investigated for a floating barge-type wind turbine. Optimal passive parameters are determined using a parametric investigation for a tuned mass damper system. A limited degree of freedom model is identified with synthetic data and used to design a family of controllers using H ∞ multivariable loop shaping. The controllers in this family are then implemented in full degree of freedom time domain simulations. The performance of the passive and active control is quantified using the reduction in fatigue loads of the tower base bending moment. The performance is calculated as a function of active power consumption and the stroke of the actuator. The results are compared to the baseline and optimal passive system, and the additional achievable load reduction using active control is quantified. It is shown that the optimized passive system results in tower fore-aft fatigue load reductions of approximately 10% compared to a baseline turbine. For the active control, load reductions of 30% or more are achievable, at the expense of active power and large strokes. Active control is shown to be an effective means of reducing structural loads, and the costs in power and stroke to achieve these reductions are demonstrated.

Design of a scaled wind turbine with a smart rotor for dynamic load control experiments

AbstractThe ever increasing size of wind turbines poses a number of design issues for the industry, like increasing component mass and fatigue loads. An interesting concept for reducing fatigue loads is the implementation of spanwise distributed devices to control the aerodynamic loading along the span of the blade, thus mitigating fluctuations in loading and adding damping to the blade modes. This is usually referred to as the smart rotor concept. In the design of such a rotor, as compared to a traditional one, the integration of sensors and actuators poses additional design challenges. In the research discussed in this paper, a scaled smart rotor was designed and constructed to study its fatigue load reduction potential. A 1.8 m diameter rotor was manufactured and equipped with trailing‐edge flaps. The flaps were based on piezo electric Thunder actuators that allow for high‐frequent actuation. The dynamic strain behaviour of the blade was analysed for optimal placement of the sensors. Several sensors that record the strains and accelerations at different locations along the blade were implemented, but the controller was based on a piezo electric strain sensor. The rotor blades were mounted on a small turbine in the Delft University's Open Jet Facility wind tunnel and a mathematical state space model was obtained by using dedicated system identification techniques. Single‐Input Single‐Output, Multi‐Input Multi‐Output ℋ︁∞ feedback and feedforward controllers were designed, each focusing on different parts of the load spectrum. The rotor was tested at 0 and 5° yaw angles, with and without load control. A significant reduction of the dynamic loads was attained. Copyright © 2010 John Wiley & Sons, Ltd.

The Performance of Wind Turbine Smart Rotor Control Approaches During Extreme Loads

Reducing the loads experienced by wind turbine rotor blades can lower the cost of energy of wind turbines. “Smart rotor control” concepts have emerged as a solution to reduce fatigue loads on wind turbines. In this approach, aerodynamic load control devices are distributed along the span of the blade, and through a combination of sensing, control, and actuation, these devices dynamically control the blade loads. While smart rotor control approaches are primarily focused on fatigue load reductions, extreme loads on the blades may also be critical in determining the lifetime of components, and the ability to reduce these loads as well would be a welcome property of any smart rotor control approach. This research investigates the extreme load reduction potential of smart rotor control devices, namely, trailing edge flaps, in the operation of a 5 MW wind turbine. The controller utilized in these simulations is designed explicitly for fatigue load reductions; nevertheless its effectiveness during extreme loads is assessed. Simple step functions in the wind are used to approximate gusts and investigate the performance of two load reduction methods: individual flap control and individual pitch control. Both local and global gusts are simulated. The results yield important insight into the control approach that is utilized, and also into the differences between using individual pitch control and trailing edge flaps for extreme load reductions. Finally, the limitation of the assumption of quasisteady aerodynamic behavior is assessed.

Application of a LES technique to characterize the wake deflection of a wind turbine in yaw

AbstractWhen a wind turbine works in yaw, the wake intensity and the power production of the turbine become slightly smaller and a deflection of the wake is induced. Therefore, a good understanding of this effect would allow an active control of the yaw angle of upstream turbines to steer the wake away from downstream machines, reducing its effect on them. In wind farms where interaction between turbines is significant, it is of interest to maximize the power output from the wind farm as a whole and to reduce fatigue loads on downstream turbines due to the increase of turbulence intensity in wakes. A large eddy simulation model with particular wind boundary conditions has been used recently to simulate and characterize the turbulence generated by the presence of a wind turbine and its evolution downstream the machine. The simplified turbine is placed within an environment in which relevant flow properties like wind speed profile, turbulence intensity and the anisotropy of turbulence are found to be similar to the ones of the neutral atmosphere. In this work, the model is used to characterize the wake deflection for a range of yaw angles and thrust coefficients of the turbine. The results are compared with experimental data obtained by other authors with a particle image velocimetry technique from wind tunnel experiments. Also, a comparison with simple analytical correlations is carried out. Copyright © 2009 John Wiley & Sons, Ltd.

Deformable trailing edge flaps for modern megawatt wind turbine controllers using strain gauge sensors

AbstractThe present work contains a deformable trailing edge flap controller integrated in a numerically simulated modern, variablespeed, pitch‐regulated megawatt (MW)‐size wind turbine. The aeroservoelastic multi‐body code HAWC2 acts as a component in the control loop design. At the core of the proposed controller, all unsteady loads are divided by frequency content. Blade pitching and generator moment react to low‐frequency excitations, whereas flaps deal with high‐frequency excitations. The present work should be regarded as an investigation into the fatigue load reduction potential when applying trailing edge flaps on a wind turbine blade rather than a conclusive control design with traditional issues like stability and robustness fully investigated. Recent works have shown that the fatigue load reduction by use of trailing edge flaps may be greater than for traditional pitch control methods. By enabling the trailing edge to move independently and quickly along the spanwise position of the blade, local small flutuations in the aerodynamic forces can be alleviated by deformation of the airfoil flap. Strain gauges are used as input for the flap controller, and the effect of placing strain gauges at various radial positions on the blade is investigated. An optimization routine minimizes blade root fatigue loads. Calculations are based on the 5 MW reference wind turbine part of the UpWind project primarily with a mean turbulent wind speed close to rated power. A fatigue load reduction of 25% in the blade root moment was obtained for a continuous 6.3 m long flap. Copyright © 2009 John Wiley & Sons, Ltd.

Methods for Controlling a Wind Turbine System With a Continuously Variable Transmission in Region 2

Variable speed operation enables wind turbine systems to increase their aerodynamic efficiency and reduce fatigue loads. An alternative to the current electrically based variable speed technologies is the continuously variable transmission (CVT). A CVT is a transmission whose gear ratio can be adjusted to take on an infinite number of settings within the range between its upper and lower limits. CVT research in wind turbine applications predicts an improvement in output power and torque loads compared with fixed-speed machines. Also, a reduction in the harmonic content of the currents is anticipated by eliminating the power electronics. This paper develops a model that combines a CVT model with the FAST wind turbine simulator for simulating the system’s performance in MATLAB/SIMULINK. This model is useful for control development for a variable-speed wind turbine using a CVT. The wind turbine with CVT is simulated using two controllers: a proportional-integral controller and a nonlinear torque controller of the type commonly used in the wind industry.

A comparison of smart rotor control approaches using trailing edge flaps and individual pitch control

AbstractModern wind turbines are steadily increasing in size, with recent models boasting rotor diameters greater than 120 m. Wind turbines are subjected to significant and rapid fluctuating loads, which arise from a variety of sources including turbulence, tower shadow, wind shear and yawed flow. Reducing the loads experienced by the rotor blades can lower the cost of energy of wind turbines. ‘Smart rotor control’ concepts have emerged as a solution to reduce fatigue loads on wind turbines. In this approach, aerodynamic load control devices are distributed along the span of the blade, and through a combination of sensing, control and actuation, these devices dynamically control the blade loads.This research investigates the load reduction capabilities of smart rotor control devices, namely trailing edge flaps (TEFs), in the operation of a 5 MW wind turbine. A feedback control approach is implemented for load reduction, which utilizes a multiblade coordinate transformation. Single input–single output control techniques are employed to determine the appropriate response of the TEFs based on the blade loads. The use of TEFs and this control approach is shown to effectively reduce the fatigue loads on the blades, relative to a baseline controller. The load reduction potential is also compared to an alternative individual pitch control (IPC) approach, in the time and frequency domain. The effects on the pitch and power systems are briefly evaluated, and the limitations of the analysis are assessed. Finally, a combined approach that uses both TEFs and IPC is evaluated. Copyright © 2009 John Wiley & Sons, Ltd.

Wind turbines: New challenges and advanced control solutions

Wind turbines: New challenges and advanced control solutions