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Seventh International Conference on Intelligent Systems Design and Applications

Fuzzy-Logic Control System of a Variable-Speed Variable-Pitch


Wind-Turbine and a Double-Fed Induction Generator

AMÊNDOLA, C. A. M. GONZAGA, D. P.
University of São Paulo University of São Paulo
amendola@sel.eesc.usp.br diogenes@sel.eesc.usp.br

Abstract (α=0°) and, under strong winds, the pitch-angle is in-


creased and the blades are positioned to capture only
The utilization of variable-speed variable-pitch the energy necessary to maintain the DFIG at full-load
wind, or aeolic, turbines jointly with double-fed induc- [1].
tion generator (DFIG) is one of several strategies on
the aeolic energy capture and the aeolic-electrical en-
ergy conversion, according to local power system
standards. The aeolic energy captured must be con-
trolled, such as to be maximized for weak winds and to
be limited for strong winds to avoid damages and
overvoltages in the DFIG. In this work the energy cap-
ture control is made applying a fuzzy-logic controller
directly on the turbine pitch-angle and the speed con-
trol is made by a field-oriented fuzzy-logic controller,
that acts on DFIG electromotive torque so that to fol- Figure 1. Relation between the lift force “FL”
low the reference value generated by an optimum an- and the pitch-angle “α” [2].
gular speed estimator. The simulation results of the
whole aeolic-electrical energy conversion system show PT = TT ⋅ ωT (1)
a stable and smooth dynamic behavior for three differ-
ent real conditions of wind, even though under strong The capture of aeolic-energy also is influenced by
and turbulent winds. the turbine angular speed: for each wind speed
“v”(m/s) the angular speed of the turbine must be ad-
1. Introduction justed in order to maximize the capture of aeolic-
energy. The operation of this variable speed state is
The wind action over the blades of the aeolic- shown Fig. 2, and is described as follows [3]:
turbine causes an aerodynamic force “F”(N), depend- • Initial Condition → under a wind whose speed
ing on the pitch-angle “α”(°), that can be decomposed is “V2”, the turbine rotating at an angular speed “ωT2”
in two components: the first, lift force ”FL”(N) and, the extracts from wind a power “PT2”, that is the maximum
second, drag force “FD”(N). Figure 1 shows the action for that wind speed (Point A);
of wind over a turbine blade, the pitch-angle and the • Increase of the Wind → the sudden changing
forces. As the turbine blades are mounted over a hori- of the wind speed from “V2” to “V4” is reflected, im-
zontal shaft, “FL”, that is perpendicular to the wind mediately, to the mechanical power (Point B); next, the
direction, causes a mechanical torque “TT”(Nm) and so angular speed, after wins the inertia, increases from
a rotative movement of the turbine, with an angular or “ωT2” until to reach the optimum operation point (Point
rotation speed “ωT”(rad/s). C), that corresponds to an angular speed “ωT4” and the
By manipulating the turbine pitch-angle it can to maximum mechanical power “PT4”;
control the mechanical power “PT”(W) available in the • Decrease of the Wind → by other side, the
turbine shaft (1) and, consequently, the active power changing of wind speed from “V4” to “V3” also is re-
“PG”(W) produced by the DFIG. So, under weak winds, flected, immediately, for the mechanical power (Point
the blades are maintained in the angular position corre- D); and, again, the angular speed is corrected, now
sponding to the maximum capture of aeolic-energy from “ωT4” to a new optimum operation point (Point E),

0-7695-2976-3/07 $25.00 © 2007 IEEE 252


DOI 10.1109/ISDA.2007.110
corresponding to angular speed “ωT3” and the maxi- speed value with the DFIG needs; jointly with the elec-
mum mechanical power “PT3”. tronic converter, the DFIG converts the mechanical
This optimum angular speed can be estimated and energy to electrical energy, already in local electric
imposed to the turbine. But, in order to the frequency power system standards. To operate on variable-speed
and amplitude of the DFIG output voltage be not per- variable-pitch state the control system is composed by
turbed it is necessary the DFIG shaft speed variations two controllers:
be compensated during aeolic-electrical energy conver- • Aeolic-energy Capture Controller: From volt-
sion process. age and current of DFIG stator winding measurements,
this controller registers the electrical output power and,
by means of a servomechanism, adjusts adequately the
pitch-angle of the wind turbine;
• Rotor-winding Exciting Controller: From
wind speed measurement it estimates the most ade-
quate value for the turbine rotation speed and, the con-
troller actuates in the exciting current to control the
DFIG electromechanical torque and, consequently, the
aeolic turbine rotation speed.
Figure 2. Variable speed state: Search of the
optimum angular speed [3]. 3. Mathematical Model

3.1. Aeolic Turbine


2. System Description
An aeolic turbine with area “AT”(m2), that operates
There are some wind-generator configurations that
according to a power coefficient “CP”, extracts from
operate in variable-speed state. In this work it was cho-
wind of speed “v”(m/s) and density “ρ”(kg/m3) a de-
sen a double-fed induction generator, excited buy ro-
termined amount of aeolic energy that can be as avail-
tor-winding slip rings from an electronic converter [4],
able shaft turbine mechanical power “PT”(W) (2).
as can be seen in Figure 3. In this configuration, the
DFIG shaft speed variations are compensated by oppo-
ρ
site-direction same intensity variations of the rotor PT = ⋅ v 3 ⋅ AT ⋅ C P (2)
magnetic field. For this, the electronic converter sup- 2
plies the winding-rotor with an exciting current, whose
frequency is equal to the slip-frequency [5]. The efficiency of the aeolic-energy capture depends
on pitch-angle “α”(°) and of the ratio “λ”, between the
blade-point speed and the wind-speed (3). The blade-
point speed is given by the product of the turbine-shaft
angular speed “ωT”(rad/s) and the turbine radius
“RT”(m) (3).
The power coefficient can be determined from
aerodynamic theory applied to the turbine blades. Al-
though, with numerical simplifications [1], the power
coefficient of a variable-pitch aeolic turbine mounted
on horizontal shaft can be described by (4).
From (3) and (4), it can be obtained the surface
shown in Figure 4 that relates Cp, α and λ, already de-
fined. The maximum value of power coefficient is
CP(MAX) = 0.4282, that corresponds to λ = 6.3, with α =
0°. As indicates the black line in Figure 4, if were
Figure 3. Simplified diagram: Wind-generator maintained this value of λ, it can increase α, to de-
main connections with control system. crease Cp and, consequently, to decrease the amount of
captures energy by the aeolic turbine.
According to Figure 3, the aeolic-energy is cap- So, to maintain λ = 6.3, the turbine rotation speed
tured and converted in mechanical energy by the tur- must be proportional to wind-speed. Although, the
bine, whose shaft is connected to the DFIG shaft wind turbines must operates under winds with speeds
through the transmission system, that amplifies the low between 4 and 25 (m/s), without the turbine rotation
rotation-speed from the turbine to a compatible angular speed “ωT” leaves the limits 10.5 e 19.5 rotations per

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minute. Figure 5 shows this behavior. TT
The curve of Figure 5 is modeled by (5) and repre- Tmec = (7)
KT
sents the angular speed estimator that, from wind-
speed measurements, determines the reference value of J
J t = T2 (8)
the turbine angular speed. KT
ω ⋅R
λ= T T (3)
v 3.3. Generator
−12 .5
⎛ 116 ⎞
C P = 0.22 ⋅ ⎜⎜ − 0.4 ⋅ α − 5 ⎟⎟ ⋅ e λi The DFIG, a wound-rotor induction machine, has
⎝ λi ⎠ (4) two 3-phase windings: the first in the stator structure,
1 1 0.035 and the other in the rotor structure. So as in [6], apply-
= − 3 ing a field-oriented vectorial representation on the
λi λ + 0.08 ⋅ α α + 1
model Γ equations, transposing the stator variables “s”
0.9424 and the rotor variables “r”, for an exciting synchronous
ωT = + 1.0996 (5)
1 + e −0.7413⋅(v −10 ) reference system “ e” and, decomposing them in real
component “d” and in imaginary component “q”, the
DFIG is represented by (9), (10), (11), (12) and (13):
• Voltage Equations “u”(V):

udse = 0 ∴ Rs ⋅ idse +
d ψ se { }
=0
dt
u qse = v se ∴ Rs ⋅ iqse + ω s ⋅ψ se = u se

u dre = RR ⋅ idre +
{ }
d ψ dre
− sω s ⋅ψ qre
(9)
dt

u qre = RR ⋅ iqre +
{ }
d ψ qre
+ sω s ⋅ψ dre
Figure 4. Relationship between Cp , α and λ. dt
• Magnetic Flux Equations “Ψ”(Wb):
20
ψ dse = ψ se ∴ ψ se = LM ⋅ idse + idre ( )
ψ = 0 ∴ 0 = LM ⋅ (i + i )
19
e e e
TURBINE ROTATIONAL SPEED(rpm)

18
qs qs qr

ψ = LM ⋅ (i + i ) + Lσ ⋅ i
17 e e e e
dr ds dr dr (10)
ψ qre = LM ⋅ (iqse + iqre ) + Lσ ⋅ iqre
16

15

ω r = n pp ⋅ ω mec
14

13

12 • Electromechanical Torque Equation “Tele”(Nm):


11 Tele = −3 ⋅ n pp ⋅ψ se ⋅ iqre (11)
10
4 6 8 10 12 14 16 18 20 22 24
• Dynamics Equations:
(Jt + J g ) d {ω r }
W IND SPEED(m/s)

Figure 5. Rotation speed of the turbine in func- ⋅ = Tele − Tmec


tion of wind-speed. n pp dt (12)
ω r = n pp ⋅ ω mec
3.2. Transmission System
• DFIG Output Power Equations:
2
The main function of the transmission system is to Pg = 3 ⋅ Rs ⋅ i se + 3 ⋅ ω s ⋅ψ se ⋅ i qre
multiply the turbine shaft angular speed “ωT”(rad/s) by
a ratio “KT” to maintain the DFIG shaft angular speed ⎛ψ e ⎞
Qg = 3 ⋅ ω s ⋅ψ se ⋅ ⎜⎜ s − idre ⎟⎟ (13)
“ωmec”(rad/s), within an adequate range (6). By consid- ⎝ LM ⎠
ering the losses be negligible, the mechanical torque on
the DFIG shaft “Tmec” (Nm) is equal to the mechanical S g = Pg2 + Qg2
torque on the turbine shaft “TT”(Nm) divided by the
transmission ratio “KT” (7). Finally, the momentum of
inertia of the aeolic turbine “JT”(kgm2) is reflected to Where: “i”(A) are the currents; “ωs”(electrical
the DFIG shaft as “Jt”(kgm2) (8). rad/s) is the angular electrical speed, or frequency, of
ωmec = K T ⋅ ωT (6) stator; “ωr”(electrical rad/s) is the angular electrical
speed of rotor; “s” is the slip; “Pg”(W) is the active

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power; “Qg”(VAr) is the reactive power; “Sg”(VA) is power of DFIG does not reach its nominal, or full-load,
the apparent power; “R”(Ω) is the electric resistance; value and, when to occur stronger winds, α is increased
“LM”(H) is the magnetization inductance; “Lσ”(H) is in order to maintain the full-load operation of DFIG.
the leakage inductance; “npp” is the number of pair-
poles; and “Jg”(kgm2) is the momentum of inertia of
DFIG.

4. Control System
An aeolic-electric energy conversion process in-
volves the air masses complex dynamics, the wind re-
gime stochastic nature and the turbine and generator
non-linear behavior. In such kind of applications, the
fuzzy-logic based controllers have shown better per-
formance [3] and some others advantages [7]: The
mathematical model is not necessary to controller syn-
thesis; it tolerates parameter imprecisions or parameter
variations; and, allows the agreement between contra-
dictory control actions, just as occurs in the aeolic-
energy capture that have to be maximum, since it do Figure 7. Membership functions of the “α”
not exceed the generator power limit. controller.
The block diagram illustrated in Figure 6 exhibits
the basic structure of the fuzzy-logic controllers, where The aeolic-energy capture controller determines the
each input is evaluated by triangular or trapezoidal pitch-angle variations “Δα” from the DFIG output
membership functions, so that the membership degree power “Pg”, from DFIG output power variations “ΔPg”,
of the fuzzy sets is associated to each input. Finally, and from the pitch-angle “α”. Its fuzzy sets are showed
the defuzzyfication is obtained by the average of the in Figure 7, where the acronym means: “HOL” high
activation degree “wi” of each output membership overload, “LOL” low overload, “FL” full-load, “LUL”
function, singleton, which is pondered by correspon- low underload, “HUL” high underload, “N” negative,
dent positions “zi” in the output universe of discourse “Z” null and “P” positive, “VFI” very fast increase,
(14). “FI” fast increase, “SI” slow increase, “M” maintain,
“SD” slow decrease, “FD” fast decrease and “VFD”
Δα =
∑w ⋅zi i
(14)
very fast decrease.
∑w i
The rule-base is composed by the following rules:

1. If (Pg=HOL) then (Δα=VFI);


2. If (Pg=LOL) then (Δα=FI);
3. If (Pg=FL) and (ΔPg=P) then (Δα=SI);
4. If (Pg=FL) and (ΔPg=Z) then (Δα=M);
5. If (Pg=FL), (ΔPg=N) and (α=P) then (Δα=SD);
6. If (Pg=LUL) and (α=P) then (Δα=FD);
7. If (Pg=HUL) and (α=P) then (Δα=VFD).

Figure 6. Block diagram of the fuzzy-logic con- 4.2. Exciting Controller


trollers.
The speed, reactive power and current controllers
4.1. Aeolic-Energy Capture Controller have similar fuzzy inference systems whose inputs are
the error “e” and the error variations “Δe” of the con-
The captured aeolic-energy amount control is made trolled variable; and, the output is the variations of the
by means of the aeolic-turbine power coefficient and control action “Δu”. The fuzzy sets are presented in
has two objectives: first, under low winds is to maxi- Figure 8 and rule-bases are described in Table 1, where
mize the captures aeolic-energy; second, under strong the acronym means: “PL” positive large, “PM” posi-
winds is to limit the capture of aeolic-energy, in order tive medium, “PS” positive small, “ZE” zero, “NS”
to maintain the DFIG operating at full-load. So, this negative small, “NM” negative medium and “NL”
control maintain the pitch-angle α=0°, while the output negative large.

255
rent “iqr” (15). The transfer function for the active re-
sistance “Rω” is defined in (16).
The amplitude of the real component of the exciting
current “idr” is defined from wished value for the reac-
tive flux “Qs_ref” that is obtained by means of the con-
trol loop shown in Figure 10.

Figure 8. Membership functions of the “ωr”,


“Qs” and “ir” controllers.

Table 1. Rule-bases of the “ωr”, “Qs” and Figure 10. Reactive power control loop.
“ir” controllers.
“Δe” The exciting current control loop (Figure 11) acts
PL PM PS ZE NS NM NL independently of its real and imaginary components.
PL PL PL PL PL PM PP ZE So, it determines the real “udr” and the imaginary “uqr”
PM PL PL PL PM PP ZE NS components of the voltage that is applied to the rotor
PS PL PL PM PP ZE NS NM winding to obtain an exciting current with real and
“e” ZE PL PM PP ZE NS NM NL imaginary components equaling the reference value.
NS PM PP ZE NS NM NL NL In this control current loop the feedback through
NM PP ZE NS NM NL NL NL the term “sωs.Lσ” eliminates the interdependence be-
NL ZE NS NM NL NL NL NL tween the current components. The error Ê, introduced
by back electromotive force of the DFIG, is eliminated
As the fuzzy-logic controllers are adjusted to have a by the compensation of the estimate values of its com-
smooth control action, to ensure a high disturb rejec- ponents: real “Êd” and imaginary “Êq” (17). The Equa-
tion it was implemented an additional feedback accord- tion (18) represents the active resistance “Ri”.
ing to the active resistance method [6].
The equations (11) and (13) relatives to DFIG vec-
torial model show that through real “idr”(A) and imagi-
nary “iqr”(A) exciting current components it is possible
to control, respectively, the reactive power “Qg” and
the angular speed “ωmec” of DFIG.

Figure 11. Exciting current control loop.

R R
Eˆ d = − s ⋅ψ se Eˆ d = − s ⋅ψ se (17)
LM LM
Ri = 527.8 ⋅ Lσ − (Rs + RR )
Figure 9. Speed control loop. (18)

1
e
iqR =− ⋅ Tele (15) 5. Computer Simulation
3 ⋅ n pp ⋅ ψ se

Rω = 0.5278 ⋅
(J t + Jg ) To demonstrate the global performance of the sys-
tem, it is simulated for three wind regimes [8], and the
(16)
n pp results are following:
• Under strong winds, with average speed
In the control loop shown in Figure 9, to maintain equal to 21.42(m/s) and with 19.60% of turbulence:
the DFIG rotation speed equal to the reference value The turbine rotates with maximum angular speed,
estimated in (5), the speed control generates a control while the pitch angle limits the aeolic energy capture
action as an electromotive torque, which is utilized to and maintain the nominal value of output power (Fig-
estimate the imaginary component of the exciting cur- ure 12);

256
50 • Under medium winds, with average speed
W IND SPEED (m/s) equal to 11.40(m/s) with 11.32% of turbulence: The
turbine searches constantly the optimum value of angu-
0 lar speed to maximize its power coefficient; during the
0 100 200 300 400 500 600 wind-speed peaks, the pitch-angle limits the energy
1 capture, and maintains the output power in its nominal
0.5 value (Figure 13);
GENERATOR´S OUTPUT POWER (pu)
0 • Under weak winds, with average speed equal
0 100 200 300 400 500 600 to 6.97(m/s) with 5.88% of turbulence: The turbine
40
rotates slowly, but still searches the optimum value of
20 angular speed, while the pitch-angle keeps at 0° (Fig-
TURBINE´S PITCH ANGLE (°) ure 14).
0
0 100 200 300 400 500 600

1.2 6. Conclusion
1
0.8 TURBINE´S ROTATIONAL SPEED (pu) In this paper are presented an estimator of the op-
0.6
0 100 200 300 400 500 600 timum operation angular speed for a variable-speed
Figure 12. Results for strong winds. variable-pitch aeolic energy turbine and a fuzzy-logic
control system on an aeolic energy capture controller
30 and on an exciting controller. To demonstrate the per-
20 W IND SPEED (m/s)
formance of this controllers are simulated three real
10 regimes of wind, and the obtained results demonstrate
0 the behaviors of the pitch-angle and rotation speed of
0 100 200 300 400 500 600
1
the turbine to control the aeolic-energy capture. On the
whole, the presented control system permits a smooth
0.5
GENERATOR´S OUTPUT POW ER (pu) and stable operation to the turbine, under several wind
0
0 100 200 300 400 500 600
regimes, since the weak winds, until those most intense
20 and turbulent winds.
TURBINE´S PITCH ANGLE (°)
10
7. References
0
0 100 200 300 400 500 600
[1] SLOOTWEG, J. G., POLINDER, H., KLING, L., 2001,
1.2 Dynamic Modeling of a Wind Turbine with Doubly Fed
1 Induction Generator, IEEE – Power Engineering Society
0.8 TURBINE´S ROTATIONAL SPEED (pu) Meeting, vol.1, 2001: pp.644-649.
0.6
0 100 200 300 400 500 600 [2] NASCIMENTO, J. B., 1998, Estudo Aerodinâmico do
Figure 13. Results for medium winds. Efeito da Rugosidade no Desempenho de um Modelo de
Turbina Eólica de Eixo Horizontal, Ph.D. dissertation, Uni-
versity of São Paulo, São Carlos, Brasil, 1998.
20
W IND SPEED (m/s)
[3] SIMÕES, M. G., BOSE, B. K., SPIEGEL, R. J., 1997,
10 Design and Performance Evaluation of a Fuzzy-Logic-Based
Variable-Speed Wind Generation System, IEEE – Transac-
0
0 100 200 300 400 500 600 tions on Industry Applications, vol. 33, 1997: pp. 956-965.
1 [4] VESTAS, 2006, V120-4.5MW, www.vestas.com.
GENERATOR´S OUTPUT POW ER (pu) [5] GONZAGA, D. P., BURIAN JR. Y., 2005, Small-
0.5
Variation linear model of the three-phase double-fed induc-
0 tion motor under synchronous operation: Stability, European
0 100 200 300 400 500 600 Transactions on Electrical Power, ISSN 1430 144x, vol. 15,
10
TURBINE´S PITCH ANGLE (°)
2005: pp. 325-342.
5 [6] PETERSSON, A., 2005, Analysis, Modeling and Control
of a Doubly Fed Induction Generator for Wind Turbine,
0
0 100 200 300 400 500 600 Ph.D. dissertation, Chalmers University of Technology,
1 Göteborg, Sweden, 2005.
TURBINE´S ROTATIONAL SPEED (pu) [7] VAS, P., 1999, Artificial-Intelligence-Based Electrical
0.8
Machines and Drives, Oxford University Press, 1999.
0.6 [8] DTU, 2007, Database of Wind Characteristics,
0 100 200 300 400 500 600 www.WindData.com.
Figure 14. Results for weak winds.

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