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Abstract— The paper presents the development of a wind turbine simulator which consists of an induction motor driven by a torque
control inverter. The wind turbine simulation system includes: wind speed simulation, mathematical model of wind turbines, modeling of
rotor blade characteristics, modeling of tower effect and emulation of rotor inertia. Wind speed can be easily programmed according to
recorded wind speed data or Van Der Hoven model or manual set up. The developed algorithms were implemented by a low-cost, high-
performance DSC controller with C language and the system was tested in the laboratory with 1 kW dc generator. The power responses,
torque responses and tip speed ratio responses confirms that the system can operate very well under step change of power reference and
load disturbances. The advantages of the simulators are that various wind profiles and wind turbines can be incorporated as desired in the
control software and it includes the data acquisition to verify the control algorithms and display the parameters. The experimental results
confirmed the wind turbine simulator can perform satisfactory under steady state wind profile, turbulence and tower effect.
Keywords— Wind turbine simulator, Wind speed generation, Power spectrum, Torque control
ρ = density of air [kg/m3]
NOMENCLATURE1
cP = power coefficient of turbine [pu]
1. INTRODUCTION
cT = torque coefficient of turbine [pu] Wind power has become one of the most attractive energy
f = frequency [Hz] resources as it is almost pollution-free (if noise is not considered
G = gear ratio [pu] as pollution) when used for electricity production. As a result, a
Jg = inertia of generator [kg.m2] great deal of research has been focused on the development of
Jm = inertia of motor [kg.m2] new turbine design to hoe to reduce the costs of wind power and
Jt = inertia of turbine [kg.m2] how to make wind turbines more economical and efficient. The
N = sampling operation investigation of wind power system involves high performance
P = output power of turbine [W] wind turbine simulator, especially for the development of
Pturb = power produced by turbine [W] optimal control solutions. At present, such simulator has become
Pwind = power in wind [W] a necessary tool for research laboratories to enhance the quality
R = radius of blade of blade [m] of the wind energy conversion system.
Svv = power spectral debsity [ m2/s] The basic requirement for a wind simulator is that its static
Tf1 = friction torque of wind turbine system [N.m] and dynamic characteristics must be as close as possible to those
Tf2 = friction torque of M-G set [N.m] of real wind turbine. For the last few decades, the most common
Τcomp = compensation torque [N.m] structure of a wind simulator was based on a DC motor with
Τf1 = friction torque [N.m] current control (i.e., torque control on the shaft of the DC motor).
Τg = generator torque [N.m] However, the simulator requires a relatively large-sized DC
Τm = motor torque [N.m] motor. This constraint makes DC motor system unattractive, due
Τtower = tower effect turbine ripple [N.m] to its unavailability and maintenance requirement. In addition, it
is rather expensive. Later the DC motor system was replaced by
Τturb = turbine torque [N.m]
an induction motor system which eliminated the above
T’turb = turbine torque without tower effect [N.m]
mentioned disadvantages.
vt = wind speed [m/s]
In this paper, a squirrel cage induction motor (IM) is
v = mean wind speed [m/s] proposed for a wind simulator as a torque-generating source. The
α = angular acceleration of turbine [rad/s2] wind simulator consists of two main parts as shown in Fig 1. The
β = pitch angle [rad] first part (left hand side of the figure) is used to create required
ϕi = phase angle with uniformly distributed random wind speed. The power-speed pattern of the wind can be
number in a domain of [rad]. generated from the data based on the Van Der Hoven power
λ = tip speed ratio [pu] spectrum model or from the actual recorded wind speed data or
from manual set up. This part includes the mathematical model
ω0 = starting radian frequency [rad/s] of the wind turbine to calculate reference signals which will be
ωg = angular velocity of generator [rad/s] used as torque reference for the inverter in the second part. The
ωt = angular speed of turbine [rad/s] second part is an electromechanical tracking system (ETS) which
generates shaft torque whose characteristics are governed by the
pattern determined by the first part.
1
Ai = [S vv (ωi ) + S vv (ωi+1 )](ωi+1 − ωi ) (1)
2
with A0= v , ω0 =0 and ϕ0=0. Note that the first and second terms
of Equation (2) represent the average and turbulence of wind 3.1 Modeling of Rotor Blade Characteristics
speed respectively. The parameter v is calculated on a time Wind speed generally varies according to elevation of the
horizon greater than the largest period in the Van der Hoven blades (i.e., every single spot on the turbines would not have the
characteristic. same wind speed). Modeling of wind speed must take into
account all different positions on the blades and therefore, it is
very difficult. For the sake of simplicity, single value of wind
speed is applied to the whole wind turbines. Modeling of rotor
blade characteristic requires tip speed ratio and the relationship
of torque and power coefficient versus tip speed ratio. The tip
speed ratio (TSR), λ is obtained from
Fig. 5 Block diagram of rotor blade characteristics.
ωt R
λ= (3)
vt
3.2 Periodic Torque Ripple caused by Tower Effect
The power captured by the blades, Pturb, can be calculated
using There is a phenomenon that the output torque of a wind
turbine contains periodically rippled torque [6]. The phenomenon
ρ can be graphically explained by Fig. 6 (a). As the wind passes
Pturb = πR 2 v 3tc P (λ, β) (4) through the tower, the wind speed in front of the tower decreases
2 due to the resistance of the tower structure. At this time, if the
tower and one of the blades are in alignment, the wind speed
striking the blades will reduce and cause the ripple effect as
The aerodynamic torque acting on the blades, Τturb, is shown in Fig 6 (b), where the shape of torque ripple is modeled
obtained by as a ramp function [7]. The frequency of the rippled torque is
equal to the main rotational frequency multiplies by the number
ρ of blades. The shape and amount of torque ripple depend on the
Tturb = πR 3 v 2t c T (λ, β) (5)
2 characteristic of physical structures. Net output torque which
takes the tower effect into account, can be calculated by
0.45
power and torque coefficient [cP, cT]
0.4
cP
0.35
0.3
0.25
(b)
0.2
Fig. 6 (a) Rotor position at 0, π /3, 2π/3 rad (black blade
0.15
creates the tower effect). (b) Periodic torque ripple modeling
0.1
cT
with tower effect of 3 blades wind turbine.
0.05
0
0 2 4 6 8 10 12 3.3 Emulation of Rotor Inertia
tip speed ratio [λ]
If an induction motor is employed in the wind turbine Fig. 10 Wind simulator hardware structure.
simulator, the torque behavior generated by motor should be
similar to that generated by a real wind turbine. This can be 4.2 Wind simulator software
achieved by a dynamic equation
Figure 11 shows the diagram for signal flow of the
software implemented on the DSC. The command sets are
Tm = (J m + GJ g )α + GTg + Tf 2 (9)
programmed in C language. The algorithm starts by receiving
rotational speed signal from the encoder and wind speed that can
Subtracting equation (8) from equation (9) with the be selected from three sources as shown by a block at the lower
assumption that the friction and gear losses are negligible (i.e., end on the left hand corner of Fig. 11. The three sources are 1)
Tf1 and Tf2=0) and rearranging, results in manual input from a potentiometer, 2) a data file from a wind
speed recorder and 3) a wind speed simulator software which is
Tm = Tturb − (J t − J m )α (10) able to generate the time-series wind speed based on a specified
Tcomp = (J t − J m )α (11) model such as the Van der Hoven power spectrum model.
R eferen ce p o w er [W ]
shows a plot of power coefficient and TSR. The solid line inside
the graph is calculated based on Equations (4) and (5). The plus
500 (a)
signs stand for power coefficient of the wind turbine. As can be
seen from the two figures, there is a good agreement between the
0
calculation and measurement from the simulator. The results 0 50 100 150 200 250 300 350Time [s]400
verify that the wind turbine simulator can reproduce the steady- 1000
O u tp u t p o w er [W ]
state characteristics of a given wind turbine at various wind
conditions. 500 (b)
0
0 50 100 150 200 250 300 350 Time [s]400
po 800
we 500
r 700
[W
E rro r
0 (c)
] 5.5 m/s
600
500 -500
0 50 100 150 200 250 300 350 Time [s]400
400
5 m/s Fig. 14 Power response of the wind turbine generator to a
300 step increase and load disturbance. (a) reference power
4.5 m/s (b) output power of induction motor, (c) error signal.
200
4 m/s
100
20
1000
0.45
0
0.4 0 50 100 150 200 250 300 350 Time [s]400
10
0.35
T ip sp eed ra tio
0.3
5 (c)
0.25
0.2 0
0 50 100 150 200 250 300 350Time [s]400
0.15 Fig
0.1 . 15. Speed and tip speed ratio responses to load
0.05
perturbation, (a) motor speed, (b) reference power, (c) tip
speed ratio of wind turbine simulator.
0
0 2 4 6 8 10 12
Tip speed ratio [λ]
10
T ip sp eed ra tio
wind turbine took a few seconds to track the output power until it
matched the reference power. Figure 14 (c) demonstrates the 500 (c)
error between the reference power and output power. Note that in
this experiment, the output power is limited by the dc generator
0
rating which is only 1kW. 0 50 100 150 200 250 300 350 Time [s]400
The response of tip speed ratio and motor speed for the
same condition as in Fig. 14 is shown in Fig. 15. It can be seen
Fig. 16 (a) Tip speed ratio, (b) power coefficient, (c) output
that at 220s both the motor speed and tip speed ratio decreases,
power of induction motor.
as indicated by the characteristic of Fig. 4. Figure 16 illustrates
that the power coefficient increased, when the system load went
up. Figure 17 presents the output torque response for the same
operating conditions as shown in Figure 14. It confirms that the
controller was capable of tracking the reference torque calculated
O u tp u t to r q u e [N .m ] R efer en ce to r q u e [N .m ]
60 8
W in d sp eed [m /s]
6
40
(a) 4
20 2
0 0
0 50 100 150 200 250 300 350 400 0 10 20 30 40 50 60 70 Time [s] 80
Time [s]
60 10
T ip sp eed ra tio
40
(b) 5
20
0 0
0 10 20 30 40 50 60 70 Time [s] 80
0 50 100 150 200 250 300 350 Time [s]400
1000
O u tp u t p o w er [W ]
50
E r ro r
500
0 (c)
0
-50 0 10 20 30 40 50 60 70 80
0 50 100 150 200 250 300 350 400 Time [s]
Time [s]
Fig. 17 Torque response to load increase, (a) reference Fig. 20 The corresponding output power and tip speed ratio
torque, (b) output torque, (c) error between the reference response to the wind speed change (0-77s).
and torques.
6. CONCLUSIONS
An experiment on the tower effect was conducted with the
help of model given in Equation (7), constant load of 130 W, and The development of wind turbine simulator for wind
a constant wind speed of 5 m/s. The result is shown in Figure 18. power plant testing is presented. The developed simulator was
In this experiment, the wind turbine was assumed to have three- implemented by a low-cost, high-performance DSC controller
blades, and the torque ripple occurred every 2π/3 rad. developed on C language. Wind speed can be easily programmed
according to recorded wind speed data, Van Der Hoven model
and manual set up. The advantages of the simulators are that
400 various wind profiles and wind turbines can be incorporated as
Output power [W]
300 desired in the control software and it includes the data acquisition
to verify the control algorithms and display the parameters. The
200
experimental results confirmed the wind turbine simulator can
100 perform satisfactory under steady state wind profile, turbulence
0 and tower effect. The system could provide all necessary
0 100 200 300 400 500 600 700 800 900 1000
Time [s] parameters of the wind turbine system such as wind speed,
8 output torque, torque coefficient, output power, power
Output torque [N.m]
6
coefficient, and tip speed ratio.
4
2
7. REFERENCES
0
0 100 200 300 400 500 600 700 800 900 1000 [1] H. Nam, 1998 “Numerical Simulation of Wind Turbulence
Time [s]
for Time-Domain Response Analysis of Complex
Fig. 18 Tower effect on the output power and torque. Structure”, Master Thesis, Asian Institute of Technology.
[2] Nichita, C.; Luca, D.; Dakyo, B.; Ceanga, E.; 2002
Figure 19 shows time-series wind speed for a period of “Large Band Simulator of Wind Speed for Real Time
400 sec. The wind speed is simulated by the Van der Hoven Wind Turbine Simulators”. Energy Conversion, IEEE
power spectrum model implemented with MATLAB. The input Tran. on Vol. 17, Issue 4, Dec. pp.:523 – 529.
parameters used in the model are as follows: A0 = 4.5 m/s, N=55, [3] I. Munteanu, N. A. Cutululis, A. I. Bratcu, E. Ceanga;
and ωi = i.10k [rad/h] for i = 1, 2, …, 9 and k = -2,-1, 0, 1, 2 2004 “Optimization of variable speed wind power systems
(refer to Equations (1) and (2)). These wind speed data will be based on a LQG approach”. ELSEVIER Tran. on Control
passed and served as input data for the DSC board. Figure 19 is Engineering Practice.
the result of a closer look of the wind speed profile in the first 77 [4] Kojabadi, H.M.; Liuchen Chang; Boutot, T.; 2004
seconds. The corresponding tip speed ratio and output power “Development of a Novel Wind Turbine Simulator for
are also provided in the figure. Wind Energy Conversion Systems Using an Inverter-
Controlled Induction Motor”. Energy Conversion, IEEE
7
Tran. on Vol. 19, Issue 3, Sept. pp.:547 – 552.
Wind speed [m/s]