Utilizing a STATCOM to Prevent the Flicker Propagation in a Wind Power System

Roohollah Fadaeinedjad 1
Member, IEEE

Gerry Moschopoulos2
Senior Member, IEEE

Aliakbar Ghareveisi3
2

Dept. of Elect. and Comp. Engineering, Kerman Graduate University of Technology, Kerman, Iran; rfadaein@ieee.org Dept. of Elect. and Comp. Engineering, University of Western Ontario, London, ON, Canada; gmoschopoulos@eng.uwo.ca 3 Dept. of Electrical Engineering, Shahid Bahonar University of Kerman, Kerman, Iran; a_gharaveisi@yahoo.com WECS are all interrelated, this model must consider the whole WECS in detail. Most WECS models ignore the aerodynamic aspects of the system and, thus, its effect on flicker. The models that do consider these aspects typically do so by using steady state power curves [3]-[4]. This, however, assumes that there is a uniform wind prole over the area of the rotor disk, which neglects important aerodynamic effects such as tower shadow, wind shears, and yaw error. Some studies have considered these effects by adding simple terms to wind speed, but without justifying the magnitude and type of these terms [3], [5]. For this paper, a model that has been developed by the authors was used to study the performance of a STATCOM in a wind power system. Aerodynamic torque (power) in the model is determined by using a three-dimensional and nonuniform wind prole to study the aerodynamic forces for each part of the turbine blades, instead of a uniform profile. This method allows the impact of yaw error (the difference between wind direction and WT rotor axis) and turbulence on the voltage variations and icker level to be studied individually. In this paper, the implementation of the model is explained in detail and simulation results that clearly show the relation between yaw error and instantaneous icker level, which has not been previously studied, are presented. Results that show how effective a STATCOM can be in suppressing voltage fluctuations and decreasing flicker level are also presented. II. SYSTEM CONFIGURATION AND SIMULATION STRUCTURE

Abstract -- This paper investigates how effective a STATCOM can be in the prevention of the propogation of flicker induced by the aerodynamic aspects of wind turbines of a wind power system. A small wind farm equipped with xed speed wind turbines connected to a distribution system is studied by using a STATCOM to improve power quality. The aerodynamic and mechanical aspects of a wind turbine are simulated using TurbSim, AeroDyn, and FAST, and the electrical parts of the wind turbine, STATCOM, network, and ickermeter are modelled by Simulink blocks. Using a ickermeter model, the instantaneous icker at the Point of Common Coupling (PCC) is determined for the wind power system. Simulation results obtained from the model are used to observe the effects of yaw error and turbulence on the icker level at PCC. The performance of the STATCOM is then evaluated based on these observations. Index Terms -- Flicker, STATCOM, Fixed Speed Wind Turbine, Yaw Error, Simulink, FAST, AeroDyn, TurbSim.

I.

INTRODUCTION

The aeroelastic aspects of a Wind Turbine (WT) such as wind shear, tower shadow, yaw error, turbulence, and mechanical vibrations, cause uctuations on the generated power and voltage, which create icker in the connected network. Power quality issues such as voltage fluctuations and icker are the major limiting factor in the connection of WTs to power grids [1]. For example, voltage uctuations determine the installation limit on a determined grid point [2], and can degrade the quality of the service in the areas surrounding wind farms. A STATCOM can be used to mitigate voltage fluctuations, to improve power quality [3], and to decrease icker level, but previous research related to Wind Energy Conversion System (WECS) has not shown just how effective a STATCOM can be. To determine this, a model is needed to evaluate the performance of a STATCOM for power and voltage variations of various magnitudes and types. Since the electrical, mechanical, and aerodynamic performance of a

The icker studies that were done for this paper were conducted on the wind power system that is shown in Fig. 1, which represents a typical WECS. The wind power plant consisted of 5 identical xed speed WTs, each rated at 275 kW and 480 V. A step-up transformer connected each WT to a collector system rated at 13.8 kV.

978-1-4244-5287-3/10/$26.00 2010 IEEE

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Fig. 1. The Study System configuration

The collector system was connected to a network system at the Point of Common Coupling (PCC), where a STATCOM was used to mitigate the voltage uctuations. To reduce the size of the STATCOM, a xed capacitor bank was used to supply 300 kVar at nominal voltage. The network was represented by an innite bus and a Thevenin equivalent impedance, as shown in Fig. 1. Network information such as Short Circuit Level (SCL) and Xth/Rth ratio is given in Table I in the Appendix to this paper. An IEEE standard ickermeter was used to calculate the icker level at the PCC. Fig. 2 shows the simulation structure that was used for this paper, which is based on the aggregation method. Using this method, the five WT generator units were replaced by an equivalent WT generator unit rated at 5275 kW, and the step up transformers were replaced by an equivalent transformer, T1. It should be noted that replacing five identical 275 kW WT generator units with a single 5275 kW unit requires the scaling of the electrical torque applied to the mechanical parts model. The rest of the system was considered as a lumped circuit with linear, RLC components. As shown in Fig. 2, the aerodynamic and mechanical aspects of the WT were simulated using TurbSim, AerDyn, and FAST. The electrical parts of the WT, STATCOM, its controller, network, and IEEE standard ickermater were modelled using Simulink blocks. The simulation structure will be explained in further detail in this paper. III. THE IEEE FLICKERMETER AND ITS IMPLEMENTATION USING SIMULINK It is necessary to determine the icker sensation signal in order to evaluate the icker level at the PCC. This was done by implementing an IEEE standard ickermeter in Simulink environment in this paper. The details of how this was done are explained in this section. A. The IEEE Flickermeter Flicker is a low-frequency modulation of the 60 (or 50) Hz network voltage. A ickermeter can be used to separate the carrier from the modulating wave, weigh the effects of the latter based on human sensitivity to the disturbance, and generate the instantaneous sensation of the icker S(t). The

Fig. 2. The System Simulation Structure

flicker measurement method used in this paper is based on IEEE Std. 1453 [6], which was adopted from IEC 61000-415. This flickermeter is a standardized instrument for measuring the icker obtained by simulation and by the stochastic analysis of the response of the lamp-eye-brain chain to voltage uctuations. The layout of the ickermeter is shown in Fig. 3. The input signal consists of the 60 Hz network voltage measured at the PCC and the icker that is superimposed on it in the form of amplitude modulation. This signal enters Block 1 (the 'normalization block'), after which a transformer steps down its voltage level to values compatible with electronic components located downstream. Block 1 contains a signal generator to check the ickermeter setting in the eld, and a circuit to normalize the rms value of the input voltage at network frequency as the internal reference level. The behavior of the lamp-eye-brain chain can be simulated by the subsequent blocks (from 2 to 4). Block 2 is a quadratic demodulator used to separate the modulating uctuation from the carrier wave (network frequency). Block 3 consists of two lters in cascade and a sensitivity scale selector that may precede or follow the selection lter circuit. The lters are used to: Eliminate the dc component and the frequency component that is at twice the mains frequency and that is present at the output of the demodulator; Weigh the voltage fluctuation, according to lamp-eye brain sensitivity; Square the weighted flicker signal to simulate the nonlinear eye-brain perception; Perform sliding mean averaging of the signal to simulate the memorization effect in the brain. To implement the above functions, Block 4 includes a squarer and a first order low-pass filter with a time constant of 300 msec.. The output of the block represents the instantaneous sensation of the flicker S(t). Block 5 converts the analog output of Block 4 into digital form, with at least 6 bits of resolution, using at least 64 classes. The minimum sampling rate is 50 samples per second. Block 5 contains a microprocessor that can evaluate the icker level in real time, or be used to record the time trend of S(t), which can be used to analyze icker.

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Fig. 3. The functional diagram of IEEE (IEC) flickermeter [6].

Fig. 4. The block diagram of flickermeter [7].

voltage uctuations of an incandescent lamp supplied by a variable sinusoidal voltage. Block D squares its input block signal to simulate the nonlinear perception of the icker in the eye-brain chain. This block has the same function as the rst part of Block 4 in Fig. 3. Block E is a low-pass lter that simulates the behavior of the icker memorization in the brain. This block has the same function as the second part of Block 4 has in Fig. 3. The output of Block E is the instantaneous sensation of the icker S(t), which was used in this work. More details regarding the implementation of the IEEE flickermeter can be found in [8]. IV. SIMULATION OF A WIND POWER PLANT As shown in Fig. 2, the aerodynamic and mechanical aspects of the WT were simulated using TurbSim, AerDyn, and FAST. The Simulink environment was also used to model the electrical parts of the WT and network. Details of how the aerodymanic, mechanical, and electrical aspects were simulated are presented in this section. A. Aerodynamic Simulation Using AeroDyn and TurbSim To study the aeroelastic aspects of a WT, the aerodynamic forces of the blades need to be determined since they can cause vibration in the mechanical structure and inuence the generated torque (power). AeroDyn, a subroutine inside FAST [9], can calculate the aerodynamic forces for each part of the blades and can model almost all aerodynamic aspects of a WECS, including tower shadow effect, vertical wind shear, horizontal wind shear, and yaw error. The impact of yaw error on the generated power and voltage variations is particularly important as it is more severe than the effects due to the tower shadow and wind shears [10]. With this consideration, the impact of yaw error on the generated power, voltage, and flicker level was studied for this research.

B. Implementation of the IEEE Flickermeter Using Simulink The implementation of the ickermeter was performed in Simulink environment and was based on the work of Bertola [7]. The implementation was adapted for a 60 Hz network for this paper. The structure of the ickermeter was represented by the transfer functions in the block diagram shown in Fig. 4, which considers all the signal manipulations needed to obtain the trend of the instantaneous icker sensation. The block diagram in Fig. 4 consists of ve blocks and corresponds to the IEEE flickermeter diagram shown in Fig. 3. Block A converts the instant voltage to a p.u. value and performs quadratic demodulation of the voltage signal. In Fig. 3, these functions are performed by Blocks 1 and 2 jointly. Block B performs the function of the rst lter in Block 3. This block cuts off the dc voltage component and eliminates the signal of the carrier wave and the high-frequency uctuations found at the output of the quadratic demodulator. Block C performs the function of the second lter in Block 3. It models the frequency response of the human eye to the

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C. Simulation of the Electrical Dynamics of an Induction Generator Using Simulink In the WECS that was studied for this work, the WT was used to drive an induction generator, as shown in Fig. 2. Simulink was used to simulate the electrical dynamics of the generator, and FAST was used to model the dynamics of the mechanical system. Similar to [13], the electrical part of the induction machine was represented by a fourth-order statespace model with all electrical variables and parameters referred to the stator. The dq components of the rotor voltage (vdr and vqr), however, were set at zero as a simple IG was simulated instead of a doubly-fed induction generator. The mechanical dynamics of the generator, including the mechanical parts of the WT (gearbox, low speed, and high speed shafts), were modelled by FAST.
Fig. 5. The yaw error.

V.

MODELLING AND CONTROL OF A STATCOM

Yaw error is the misalignment of the rotor axis and the wind direction about the vertical yaw axis of the WT ( ); this is shown for an upwind WT in Fig. 5. The operation of WTs with a transient or steady state yaw error results in a flow component called cross wind that is perpendicular to the rotor disk axis. The variation of aerodynamic forces induced by cross wind causes vibrations in the mechanical structure (i.e. blades) and variations on the output power, depending on the WT type. AeroDyn can calculate these aerodynamic forces by using stochastic, fullfield, turbulent wind files created by a turbulent-wind simulator such as TurbSim, [11]. The results of AeroDyn can then be passed back to the dynamic subroutines in FAST. B. Simulation of the Mechanical Parts of a Wind Turbine Using FAST In this paper, similar to [10], FAST [12] was used to model a downwind, two-bladed rotor Horizontal Axis Wind Turbine (HAWT) with thirteen DOFs, including rst and second apwise blade mode, edgewise blade mode, drivetrain rotationalexibility, blade (rotor) teeter, rst and second tower fore-aft bending-mode, rst and second tower side-to-side bendingmode, and generator azimuth angle, as shown in Fig. 6. It is important to note that some of these mechanical dynamics, which are inuenced by the aerodynamic aspects of the WT, can cause a relatively complex motion of the blades that can result in aerodynamic torque uctuations. FAST can model the mechanical structure of the WT in Simulink and can exchange data with Simulink. The electrical parts of a WT can be implemented with Simulink blocks, the mechanical parts can be simulated by FAST, and the two programs can interact so that electromechanical interactions in WT can be simulated and examined, as was done for this work. Key electrical and mechanical WT data used for the simulations in this paper are given in Table I in the Appendix.

An average model of a STATCOM is used to model the STATCOM in this research [14],[15]. The STATCOM's equivalent circuit and control scheme are explained in detail in the following sections. Modelling of a STATCOM An average model [14] was used to model the STATCOM in this paper. The STATCOM consisted of a dc bus capacitor, a three-phase Voltage Source Converter (VSC), and a coupling transformer lter on the line side. The modelling of a STATCOM requires a very small computation time step to represent the PWM waveforms and account for the switch dynamics; this increases the computation load signicantly. To study icker, it is necessary to simulate the system for a long period of time (e.g., 600 sec.) [2], [6], but the voltage and power uctuations in a wind power system are mainly inuenced by the aeroelastic aspects of the WT (such as yaw error), which have slow dynamics compared to the converter switching dynamics. An average model of the STATCOM was used, therefore, to reduce simulation time for this work. The simplied STATCOM equivalent circuit that was used is shown in Fig. 7, and consisted of a dc capacitor link, a VSC, three resistors (Rstat), and three inductances (Lstat). The Rstat resistances in series with the ac lines represent the VSC and transformer conduction losses, while the Lstat inductances account for the transformer and lter leakage inductances. The VSC block was assumed to be a lossless power transformer. B. Control of a STATCOM The purpose of the STATCOM controller was to use the active and reactive power exchange between the ac power system and the STATCOM to achieve the regulation of the dc bus voltage and the ac voltage at the PCC. The STATCOM was controlled in a synchronously rotating reference frame using the dq transformation [16]. The dynamics of the STATCOM ac side can be written by the following equations: A.

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Fig. 6. The mechanical motions of wind turbine structure.

v d = Rstat id + Lstat
vd = Rstat id + Lstat
where

did e Lstat iq + v sd dt
did e Lstat iq + v sd dt

(1) (2)

(v d , v q ) , (i d , iq ) , and (v sd , v sq ) are the dq

(v a , vb , vc ) , (i a , ib , ic ) and (v sa , v sb , v sc ) v sd and iq .
Fig. 8 shows the overall STATCOM control scheme that was used; it consisted of two cascade control loops. The inner control loops were used to control the dq components of STATCOM currents by generating the voltage references
* * * (v a , vb , vc ) for the VSC. The regulation of the dc bus

components of

Fig. 7. STATCOM equivalent model.

respectively. Neglecting the power losses, the instantaneous power balance between the ac and dc sides results in

respectively. Equation (7) shows a linear relation between

vdc idc = va ia + vb ib + vc ic
C stat vdc
frame,

(3) (4)

dvdc 3 = (v sd id + vsq iq ) dt 2

Assuming the correct alignment of the rotating reference

v sq can be considered zero so that (4) results in

dvdc 3v sd id = dt 2C stat vdc
(5)

voltage

v dc and the voltage at the PCC (VPCC) were

Equation (5) shows that the dc bus voltage can be maintained constant by controlling the dcomponent of the STATCOM current, id . The instantaneous STATCOM generated reactive power is given by (6).

performed independently by two outer voltage control loops * * around set values ( v dc = 1 pu and VPCC = 1.01 pu ).

VI. SIMULATION RESULTS A WECS was simulated with the modelling methods described in this paper, and the results were used to study the impact of yaw error and turbulence on the wind power plant, generated active power (PW), reactive power (QW), flicker, and the voltage at the PCC (VPCC ). The simulation results are presented in this section of the paper. A. The Effect of Wind Velocity Variation on the Generated Power, Voltage, and Flicker Level To study the effect of wind velocity changes on the voltage and icker level, a non-turbulent wind profile was applied

Qstat

3 = v sd iq 2

(6)

Assuming a reactive power balance at the PCC, (7) can be written from [3] as

v sd =

X 1 X th X 1 v 2 d + X th v1d (7) iq + X 1 + X th X 1 X th Bc X 1 + X th X 1 X th Bc

where (v1d , v 2 d ) , ( X 1 , X th ) and Bc are the dcomponents of (v1 , v 2 ) , the reactance of the T1 transformer, the network reactance, and the susceptance of shunt capacitor C,

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Fig. 8. The STATCOM control scheme implemented by Simulink.

to the WECS, with the wind direction changed up to 20O and the yaw control system action neglected. The wind speed and yaw error are shown in Fig. 9, and the voltage at the PCC with and without the STATCOM is shown in Fig. 10. As can be seen in Fig. 10, the wind speed variations (i.e., step and ramp variations) changed the voltage at the PCC by about 7%, whereas the yaw error caused some oscillations on the voltage of about 9%. Similar variation and oscillations were visible on the generated active and reactive powers (i.e., PW and QW), as shown in Fig. 11. Fig. 11 also shows the variation and oscillations on the generated STATCOM reactive power (QSTAT). The frequency of these oscillations, 1.8 Hz, depends on the number of blades number and their rotation speed, and the oscillation magnitude is increased by increasing the yaw error. Fig. 12 shows the icker level at the PCC with and without the STATCOM. It shows that yaw error causes a higher icker than that caused by wind speed variations. This result shows the need to consider WT aerodynamic aspects such as yaw error, which are typically neglected in WECS studies and are assumed to have no impact. Figs. 10 and 12 show how the STATCOM can mitigate voltage variations and prevent icker propagation to the network. Fig. 12 shows just how effective a STATCOM can be in decreasing the maximum icker caused by yaw error - it decreased it by about 80% in this study. B. The Effect of Turbulence on the Generated Power, Voltage, and Flicker Level To study the effect of turbulence on the voltage and icker level, a 66 points grid wind with typical turbulent intensity of 17.8%, mean speed of 12 m/s (at hub height), was applied to the system. This turbulent wind, shown in Fig. 13, induced uctuations on the generated active and reactive powers (PW, QW), as shown in Fig. 14; Fig. 14 also shows the generated STATCOM reactive power. The STATCOM

Fig. 9. Wind speed and yaw error.

Fig. 10. The voltage at PCC with and without STATCOM.

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Fig. 11. The generated active and reactive powers of wind power plant and STATCOM.

Fig. 13. The wind speed of a turbulent wind.

Fig. 12. The instantaneous icker level at PCC with and without STATCOM

Fig. 14. The generated active and reactive powers of wind power plant and STATCOM.

mitigates the voltage fluctuations and prevented the propagation of flicker to the network. The voltage and instantaneous icker at the PCC, with and without the STATCOM, were compared over a time period of 400 sec., as shown in Fig. 15. Fig. 15 shows that the voltage variations were decreased from 6% to about 1% using the STATCOM. Furthermore, the STATCOM decreased the maximum flicker level by about 80%. The voltage and flicker level, with and without the STATCOM, are shown in Fig. 16 for a shorter time period (from 20 sec. to 50 sec.) to verify the performance of STATCOM. As can be seen in Fig. 16, the STATCOM can effectively mitigate voltage oscillations and decreases flicker level. VII. CONCLUSIONS TurbSim, AeroDyn, FAST, and Simulink were used to model the aerodynamic, mechanical, and electrical aspects of

Fig. 15. The voltage and flicker level at PCC with and without STATCOM

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Air density=1.225kg/m3 , Tower height=41.98m, Blade pitch angle=1, Blade pre-cone angle=7 , Nacelle mass= 5015.43kg , Cut-in wind speed= 4.9 m/s, Rated wind speed=17m/s, Cut-out wind speed= 22.5 m/s Induction Generator S =275/0.9kV A, Vll =480V, J=2.9kg.m2 f=60Hz, p=2, Llr=Lls =1.2001 104H, LM =0.0071H, Rr =0.0113, Rs =0.0121.

REFERENCES
[1] [2] [3] Fig. 16. The voltage and flicker level at PCC with and without STATCOM. C. V. Moreno, H. A. Duarte, and J. U. Garcia, Assessment of flicker limits complience for wind energy conversion system in the frequency domain, Elsevier renewable energy, vol. 31, pp. 10891106, 2006. IEC 61400-21, Wind turbine generator systems - Part 21: Measurement and assessment of power quality characteristics of grid connected wind turbines. IEC Standard, 2001. W. Qiao and R. G. Harley, Power quality and dynamic performance improvement of wind farms using a STATCOM, in IEEE Power Electronics Specialists Conference (PESC07), Orlando, USA, June 2007, pp. 18321838. A. Arulampalam, M. Barnes, N. Jenkins, and J. Ekanayake, Power quality and stability improvement of a wind farm using STATCOM supported with hybrid battery energy storage, IEE Proc.-Gener. Transm. Distrib., vol. 153, no. 6, pp. 701710, Nov. 2006. J. T. Bialasiewicz and E. Muljadi, Analysis of renewable-energy systems using rpm-sim simulator, IEEE Trans. on Indusrial Electronics, vol. 53, no. 4, pp. 11371143, August 2006. IEEE Recommended Practice for Measurement and Limits of Voltage Fluctuations and Associated Light Flicker on AC Power Systems. IEEE Standard 1453, 2004. A. Bertola, G. C. Lazaroiu, M. Roscia, and D. Zaninelli, A matlab simulink flickermeter model for power quality studies, in 11th International Conference on Harmonics and Quality of Power. IEEE, Sept. 2004, pp. 734438. R. Fadaeinedjad, M. Moallem, G. Moschopoulos, and S. Bassan, Flicker contribution of a wind power plant with single and multiple turbine representations, in IEEE Electrical Power Conference (EPC07), Montreal, QC, Canada, October 2007. P. J. Moriarty and A. C. Hansen, AeroDyn theory manual, www.nrel.gov, December 2005. R. Fadaeinedjad, G. Moschopoulos, and M. Moallem, The impact of tower shadow, yaw error, and wind shears on power quality in a wind diesel system, IEEE Trans. on Energy Conversion, vol. 24, no. 1, pp. 102111, March 2009. B. J. Jonkman and M. L. J. Buhl, TurbSim users guide, National Renewable Energy Laboratory (NREL), Golden, CO, Tech. Rep. NREL/TP-500-41136, April 2007. J. M. Jonkman and M. L. J. Buhl, FAST users guide,National Renewable Energy Laboratory (NREL), Golden, CO, Tech. Rep. NREL/EL-500-38230, August 2005. R. Fadaeinedjad, M. Moallem, and G. Moschopoulos, Simulation of a Wind Turbine with Doubly-Fed Induction Generator by FAST and Simulink," IEEE Trans. On Energy Conversion, vol. 23, no.2, pp. 690700, June 2008. P. Giroux, G. Sybille, and H. Le-Huy, Modeling and simulation of a distribution statcom using simulinks power system blockset, in IEEE Industrial Electronics Society Conf. IECON 01, vol. 2, Nov.-Dec. 2001, pp. 990994. R. Fadaeinedjad, G. Moschopoulos, and M. Moallem, Using STATCOM to Mitigate Voltage Fluctuations Due to Aerodynamic Aspects of Wind Turbines, in Proceeding of Power Electronic Specialists Conference (PESC), Rhodes, Greece, June 2008, pp. 36483654. P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric Machinery and Drive Systems, 2nd ed. IEEE Press, 2002, pp. 111-125.

a wind power system with a STATCOM. The model was used to show the effects of wind velocity variations and turbulence on the generated power, voltage, and flicker. It was shown that wind speed and wind direction changes have different effects on generated power, voltage, and flicker level. This established the need to consider wind turbine aerodynamic parameters such as yaw error in power quality studies, which have not been considered in previous research [3]-[5]. The application of different wind disturbances to a WECS and the performance of a STATCOM controller to these disturbances was investigated. It was shown that a STATCOM can successfully mitigate voltage variations and decrease network flicker level. For example, the STATCOM was able to maintain voltage variation to within a range of about 1% when the WECS was exposed to a turbulent wind condition, compared to a range of 7% when it was not in the system. The STATCOM was also able to decrease network flicker by 80%. With the model described in this paper, it is possible to define wind power penetration level and STATCOM size (rating) in a weak power system with respect to voltage and flicker constraints. APPENDIX
TABLE I NETWORK AND WIND TURBINE SYSTEM PARAMETERS Network T1 STATCOM SCL=5MVA, Xth/Rth =10 2MVA, 480V/13.8kV , 5% 600kV A, Rstat =0.0073pu, Xstat =0.22pu,Cstat =3.2mF, Vdc =1056 Rated power=275kW, Gearbox ratio=33.8, Swept area=590m2 , Rotor diameter=27.4m, Hub inertia (about LSS)= 335.34kg.m2 Hub height= 42.67m, Drivetrain torsional damper=1106 Nm/s, Drivetrain torsional spring=5107 Nm/rad, Rated rotor speed= 53.33rpm,

[4]

[5] [6] [7]

[8]

[9] [10]

[11] [12] [13]

[14]

[15]

[16]

Wind Turbine

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