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Abstract— In order to get the maximum power from the wind, The VSWT can change rotor speed with wind speed
the variable-speed wind turbine should run at different speed variation and it is especially useful for all operating region
when wind speed changes. In this paper a control system is efficiency since the electronic converter can maximize the
introduced to get this purpose base on establishing the conversion efficiency by controlling the generator torque
three-mass model of the wind turbine. The control system [2]. Several control methods for controlling the VSWT has
consists of two parts: one is a speed controller for generator been reported so far. The authors proposed the
control; the other is a PI controller for pitch control. Simulation back-stepping method, the feed-forward method for the
results by using actual detailed parameters for wind turbine show control of the pitch angle in above-rated wind speed in
the effectiveness and robustness of this control system. [2-9]. The authors proposed a PI controller for controlling
the torque of generator based on feed forward
Key-Words— three-mass model, feed-forward compensator, compensation in under-rated wind speed in [2] [10].
loop-shaping, speed controller, pitch controller, wind turbine, However the variation in parameters, the effect of wind
doubly-fed induction generator (DFIG) shear for windmill and the noise on the process of control
have not been considered in these methods and in practice
I. INTRODUCTION it is difficult to use these methods for the controller design
Because of the environmental pollution problems and the in [2-11]. All control schemes above can not make VSWT
economic benefits of fuel savings, there has been a run in all operating regions neither.
growing interest in wind energy power systems [1]. There Considering the above, in this paper we propose a
are two type of vertical wind turbine in the market: the control system for the VSWT. This control system consists
constant-speed wind turbine and the variable-speed wind of two controllers. One controller is a speed controller
turbine. In the past years, the constant-speed wind turbine which is used to control the torque of generator to make
was usually used for the lack of manufacturing technology the wind turbine absorb the maximum power from the
and control technology. But this kind of wind turbine is wind when wind speed is under rated speed. The
not of good efficiency; and more and more people come to feed-forward compensator and loop shaping are used for
study the variable-speed wind turbine (VSWT) now. In the this controller design. The design of the speed controller is
VS mode, electronic converters are inserted between the easy and has better robustness than PI controller. The other
generator and the grid or a doubly fed induction controlled is a pitch controller that is used to regulate the pitch angle
by the rotor circuit is used [2-3]. of the blade. Considering the great mechanical inertia of
the blade, we set five given pitch-angles in this controller.
This can simplify the design of pitch controller and is easy
Manuscript received March 12, 2007; Revised received Sept. 23, 2007 to implement in practice. The simulation results using
actual detailed parameters for wind turbine show the
Authors are with the Department of Electrical Engineering Shanghai effectiveness and robustness of the proposed control
JiaoTong University, Shanghai 200240, China system.
wudingguo@hotmail.com.cn, wangzxin@sjtu.edu.cn The paper is organized as follows: section 2 provides a
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INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Issue 3, Volume 1, 2007
⎢ ⎥⎢ WT.. G ⎥ ⎢ ⎥⎢ WT. G ⎥
⎢⎣ 0 0 J G ⎥⎦⎢ θ G ⎥ ⎣⎢ 0 0 DG ⎦⎥⎢ θ G ⎥
ρπR 2 C p (λ , β )v 3
1
Pw = (1) ⎣ ⎦ ⎣ ⎦ (2)
2
ρ is air density, R is the radius ⎡ ⎤
Where v is wind speed, ⎡0 0 0⎤⎢ θ WT ⎥ ⎡TWT − TS ⎤
of rotor: C p is power coefficient β + ⎢⎢0 K 0⎥⎥⎢θ WT −θ G ⎥ = ⎢⎢ TS ⎥⎥
is pitch angle ⎢ ⎥
⎢⎣0 0 0⎥⎦⎢ θ G ⎥ ⎢⎣ TS + TG ⎥⎦
⎣ ⎦
and λ is tip speed ratio,which is given by λ = ω r R / v .
J WT and J G are the rotational inertia of the
Where
The power coefficient C p is a nonlinear expression
generator, θ WT is the rotation angle of the rotor, θ G is
which uses λ and β as its variables. Its graph is
the rotation angle of the generator.
shown in Fig.2. It is can be seen that in the steady-state
operation, there exist an optimal tip-speed ratios and the C. The Generator
largest wind power coefficient for a fixed pitch-angle from DFIG is of great advantage, and is widely used in large
the graph. capacity wind turbines in recent years [2]. The topological
structure diagram of DFIG is shown in Fig 3.
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INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Issue 3, Volume 1, 2007
system.
rs ls lr rr
3 P
TG = L m ( i qs i dr − i ds i qr )
2 2 (4)
pω
JG = Ts − TG
pt (5)
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INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Issue 3, Volume 1, 2007
this time, the pitch angle and the tip speed ratio are a
constant). For the complexity of the DFIG and the
uncertainty in operation, the design procedure of the speed
controller is consists of two steps.
The first step is the design of the feed-forward
compensator. From the equation (3) we can see the DFIG
has great nonlinear properties and coupling. In this step,
Fig.4.Operation Modes of Wind Turbine by using the proper compensation the model of the DFIG
can be decoupled and simplified. The compensation is
Where vc is cut-in wind speed, v r is the rate wind
chosen as:
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INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Issue 3, Volume 1, 2007
C. Pitch Controller
The pitch angle controller is only active in mode 3. In this
mode, the rotor speed can no longer be controlled by Fig.8. the wind speed
increasing the torque of the DFIG for it has already
reached its rated power. In this time, the blade pitch angle
Vwind
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INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Issue 3, Volume 1, 2007
ACKNOWLEDGMENT
This Project was granted financial support from
Fig.12 the rotor speed
Research Foundation (No: 07GFH-GB01-014), Shanghai
Bai Yu Lan Scientice and Techonlgy Foundation (No:
The wind speed is shown in Fig.8. The initial wind
2007B073), and China Education Ministry Research
speed is below the rated wind speed. After 15s, a wind
Foundation (No: 20071108).
speed ramp starts. The average wind speed increase from
4m/s to 25m/s in 50s. The fluctuation frequency of wind
speed is 1Hz, 5Hz and 10 Hz. The bodes of weight
REFERENCES
function for the wind speed and the noise are shown in
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Fig.9. and Fig.10. The changes of the pitch angle is shown
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in Fig.11.. Five given pitch
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• • • • •
angle: 15 ,30 , 45 ,60 ,75 correspond to wind [2] R. Pena, J.C. Clare, G.M. Asher.Doubly fed induction
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grid-connected wound rotor induction machine without rotor
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position sensors[J].IEEE Trans. Power Electr.,2001,16 (3):
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INTERNATIONAL JOURNAL OF SYSTEMS APPLICATIONS, ENGINEERING & DEVELOPMENT Issue 3, Volume 1, 2007
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