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Fuzzy logic systems for pitch angle controller for smoothing wind power fluctuations during below rated wind incidents
M. A. Chowdhury N. Hosseinzadeh, Member, IEEE W. Shen, Member, IEEE
frequency and the occurrence of voltage flicker at the buses of the power system the wind generators are connected to. This fact can cause instability problem in the power system, especially when there are loads so sensitive to accept the variations of voltage and frequency [1]. The importance of smoothing output power fluctuations becomes more significant with the increasing penetration of wind energy systems in the grid. A wind farm with many wind turbines has the natural tendency of smoothing output power fluctuation. But, if synchronization of output power fluctuation from synchronization phenomena is generated, the effect of smoothing power may be lost [2]. Recently, the provision of power storage system has been proposed in [1], [3]-[5]. This is a very effective strategy when power quality is concerned for high sensitive loads, but it is not efficient from the economic point of view. On the other hand, pitch angle control has now become a very popular method for smoothing wind power fluctuations. A fuzzy logic controller was used to ensure a reliable smoothing operation at low cost [1]. Reference [6] used a minimum variance controller for smoothing purpose. This method compensated the influence of parameter variations. Robust stability was achieved using H controller [7]. A generalized predictive controller with a fuzzy reasoning corrector was used to provide stability operations during the rapid change in operating points [8]. In spite of having specific advantages of applying specific pitch angle control strategy, some drawbacks are yet to overcome. The control methods stated above partially smooth the output power fluctuations and hence problems originated by the output power fluctuations are partially solved, but they resulted in a large drop in output power. In this paper, two methods of Fuzzy Logic System (FLS) have been proposed for the pitch angle controller, which is based on the motivation of trading off between a complete smoothing of wind power fluctuations and drops in output power in an optimum way during below rated wind incidents. The first method is based on the determination of the command output power through Exponential Moving Average (EMA) with a proper selection of correction factor by fuzzy reasoning to make output power to follow that command value

Abstract-- Wind energy has been receiving more acceptance as a reproducible, resourceful and clean energy source since last decade. Wind power is not constant and can fluctuate below the rated wind power when the wind speeds are lower than the rated wind speed. This fact affects the grid the wind generators are connected to, which is becoming more significant with the increasing penetration of wind energy systems. Pitch angle control has been one of the most common methods for smoothing output power fluctuations during below rated wind incidents. In this paper, two methods of fuzzy logic system have been proposed for the pitch angle controller: the determination of the command output power based on Exponential Moving Average (EMA) with a proper selection of correction factor by fuzzy reasoning and the dynamic selections of target output power according to the current wind incident. Simulation results show the effectiveness of the proposed methods in smoothing wind power fluctuations with significantly small drop of output power. Index Terms--Control design, Fuzzy logic, Power smoothing, Wind energy.

I. INTRODUCTION N recent years, wind energy has drawn a great concern due to its inherent attribute of reproducible, resourceful and pollution-free characteristics against high depletion of conventional energy sources. Moreover, wind energy source has been competing with conventional generation sources as a result of reduction in wind energy costs with technological advancements, incentives and financing options for developing renewable energy facilities since last decade. All these factors have caused wind power to become the fastest growing energy source. In this situation, wind farms begin to influence power systems more extensively, which brings new challenges to the power system with the high penetration of wind power. One of the challenges is that wind power is not constant and can fluctuate below the rated power, leading to the fluctuation of
M. A. Chowdhury is with Faculty of Engineering and Industrial Sciences, Swinburne University of Technology, VIC 3122, Australia (e-mail: achowdhury@swin.edu.au). N. Hosseinzadeh is with Faculty of Engineering and Industrial Sciences, Swinburne University of Technology, VIC 3122, Australia (e-mail: nhosseinzadeh@swin.edu.au). W. Shen is with Faculty of Engineering and Industrial Sciences, Swinburne University of Technology, VIC 3122, Australia (e-mail: wshen@swin.edu.au).

by dynamic pitch actuation. The second method is based on the dynamic selections of target output power values according to the wind incident and limit power to obtain the target output by dynamic pitch actuation. The effectiveness of the proposed methods has been demonstrated in smoothing wind power fluctuations with significantly small drop of output power. II. WIND POWER GENERATION SYSTEM The aerodynamics of the wind turbine is characterized by Cp-- curve, which is usually provided by the manufacturers. Cp is the power coefficient, it corresponds to maximum mechanical power extraction from wind at its maximum value and is a function of the tip-speed ratio () and the pitch angle (). For a given Cp, the mechanical power (Pm) and mechanical torque (Tm) extracted from the wind by the wind turbine can be expressed as [9]

Te = p ds iqs qs ids
where, p is the number of pole pairs.

(8)

The power output, Pg of the wind turbines is calculated as Pg = vds ids + vqs iqs vdr idr vqr iqr (9) Parameters of the wind turbine used in this work are shown in Table I [10].
TABLE I WIND TURBINE PARAMETERS Parameter Nominal mechanical output power Nominal electrical power Nominal voltage (L-L) Stator resistance Stator inductance Rotor resistance Rotor inductance Magnetizing inductance Base frequency Inertia constant Friction factor Pair of poles Symbol Pmec Pelec Vnom Rs Lr Rr Lr Lm f H F p Value 1.5 1.5/0.9 575 0.00706 0.171 0.0058 0.156 2.9 60 1 0.01 3 Unit MW MW Volt p.u. p.u. p.u. p.u. p.u. Hz p.u. p.u. -

Pm =

AC p ( , )VW 3
Tm =
2 Pm

(1) (2)

where, is the air density, A is the sweep area of the blades, VW is the wind speed and t is the turbine rotor speed. Conventionally, the rotor is treated as two lumped masses, i.e. turbine mass and generator mass are connected together by shaft with a certain damping and stiffness coefficient values. Neglecting the turbine and generator self-damping, shaft stiffness and torsional oscillations, the mathematical equation can be expressed as [9] d g = Tm Te 2 Ht + H g (3) dt where, Ht is the turbine inertia constant, Hg is the generator inertia constant, g is the generator rotor speed and Te is the electromagnetic torque.

The control system generates the voltage command signal vr and vgc for the rotor and grid side converters respectively in order to control the DC voltage and the reactive power or the voltage at the grid terminals. The other part of the control system is a pitch angle controller. III. CONVENTIONAL PI PITCH ANGLE CONTROLLER The conventional Proportional Integral (PI) controller is used to maintain the output power of the wind turbine at its rated value by adjusting the pitch angle of the blades, which provides an effective means of regulations in strong wind speeds. Fig. 1 shows a conventional simplified PI controller, which regulates the output in accordance with the error (e) between generator rotor speed (g) and its upper limit (reference) value.

For the induction generator, a synchronously rotating d-q reference frame of 4th order is used, which is rotating with the same speed as the stator voltage. Stator and rotor voltages in this reference frame are given in the following equations [9] 1 d ds (4) vds = Rs ids qs + b dt vqs = Rs iqs + ds +

1 d qs b dt 1 d dr vdr = Rr idr s qr + b dt 1 d qr vqr = Rr iqr + s dr + b dt

(5) (6) (7)

Fig. 1 Control scheme of the conventional PI pitch angle controller.

where, v is the voltage, i is the current, R is the resistance, s is the slip, is the flux and b is the angular frequency. Suffix s, r, d and q denote stator, rotor, d-axis component and q-axis component, respectively. The electromagnetic torque, Te is expressed as

This reference is chosen in such a way so that a minimum possible reference value enables generation of maximum possible power (1 p.u.). The minimum value is expected to be chosen as higher generator rotor speed is vulnerable to power system stability. For the specific wind turbine system adopted in [10], this reference value has been chosen as 1.21 p.u. The error signal (e) is then sent to the PI controller which produces the command pitch angle (c). It reduces the turbine operating efficiency to minimize power coefficient so that the

generator maintains its control speed value. Pitch servos are employed for proper positioning of the blades, which is modelled by using a first order delay system. The pitch actuation system cannot respond instantly and is also limited by its actuation speed. That is why servo delay and pitch rate are included to get more realistic responses from the pitch angle control system, which gives the value of pitch angle (). All parameters of this controller are given in Table II [1].
TABLE II PARAMETERS OF THE PITCH ANGLE CONTROLLER Parameter Servo system delay Rate limiter Proportional gain Integral gain Symbol Td d/dt KP KI Value 0.25 3 100 10 Unit s o /s -.

used in simulation. So, EMA starts from 2 s when 2 periods data are available. Smoothing constant () is chosen as 0.8, which indicates that 80% weightage has been considered for the data of present period with 20% exponentially decreasing weightage to the previous periods. The superiority of the EMA over other traditional smoothing technique is that the EMA can follow wind speed more rapidly than other smoothing techniques because it uses its data of previous periods for next calculation [1]. If the output power error for the difference of the reference output power (the output power with no generation of pitch angle during below rated wind incidents has been considered as reference output power, Pg_ref) and output power command is negative, the command value is larger. In that case, the controller gets no useful information for actuating pitch for smoothing purpose. So, a concept of correction factor (k) has been introduced to allow the command output power (Pg_com) to always retain smaller value than the reference value by relating the EMA output power command (Pg_com) in the following manner Pg _ com = k Pg _ com' (11) The correction factor has been assessed by applying fuzzy reasoning. Variation of reference output power from the command output power (e) and reference output power (Pg_ref) are used as inputs. The system has triangular membership functions with overlapping. Fig. 3 shows the input and output membership functions. The linguistic variables are represented by N, ZE, P (Positive), S (Small), M (Medium), L (Large), XS (Extra Small), XL (Extra Large) and XXL (Double Extra Large). The system has got 12 rules, which are listed in Table III. The ith fuzzy rule is expressed by [8] as Rule i: if e(n) is Aa and Pg_ref (n) is Bb, then k(n) is Cc. a= 1, 2, 3; b= 1, 2, 3, 4; c= 1, 2, ., 12 (12) where, Aa and Bb are antecedents and Cc are consequents.
TABLE III RULES FOR DETERMINING CORRECTION FACTOR

IV. FUZZY LOGIC SYSTEMS FOR SMOOTHING WIND POWER FLUCTUATIONS Fuzzy logic systems apply reasoning, similar to how human beings make decisions, and thus contain expert knowledge of the system. This knowledge is reflected in a series of rules, which the controller uses to derive its output signal from its input signals. The essential premise of designing the FLS is not an accurate description of the system, but expert knowledge about the likely behaviour of the system. The advantages of using fuzzy logic in the wind turbine system are that the wind turbine system needs not to be accurately described nor does it need to be linear. Two methods of the FLSs have been proposed for the pitch angle controller for smoothing output power fluctuations by generating pitch angle (c*). Fig. 2 shows the proposed design of the pitch angle controller.

Fig. 2. Control scheme of the proposed pitch angle controller.

k Pg_ref ZE S M L

A. Method 1
For smoothing wind power fluctuations, the most important part is to determine the command output power (Pg_com). It has been determined by a popular smoothing method, known as the EMA, so that the generated output power follows the command value for smoothing purpose. This command value has been calculated using the EMA in the following manner [11] Pg _ com' = C + (1 )P (10)

e N XS XS XS S

ZE S S S S

P XXL XL L L

Correction factor (k) has been crisped by the Centre of Gravity (CoG) defuzzification method, which returns the centre of the area under the curve representing the aggregated output fuzzy set. It is calculated in the following manner
k (n) =

i =1

12

i C c /

i =1

12

(13)

where, C is current value, P is previous periods value and is the smoothing constant. In this paper, 2 periods of average value (each of 1 s) is

Fig. 4 shows that we have achieved command output power (Pg_com), which is lower than the reference output power (Pg_ref) over the whole 300 s period from the EMA command

output power (Pg_com) by the generation of correction factor (k).

Fig. 3. Fuzzy sets and their corresponding membership functions for determining a proper correction factor: (a) e, (b) Pg_ref and (c) k.

Fig. 5. Fuzzy sets and their corresponding membership functions using Method 1: (a) e, (b) e and (c) c*.

It has got 45 rules, which are formed in similar way of (12) and listed in Table IV. Command pitch angle has been crisped by the CoG defuzzification method using (13).
TABLE IV RULES OF FUZZY LOGIC SYSTEM (METHOD 1) c* e NXL NL NM NS ZE PS PM PL PXL e NL XXS XS S M L XL XXL XXL XXL NS S M L XL XXL XXL XXL XXL XXL ZE ZE ZEP XXS S S L L XXL XXL PS S M L XL XXL XXL XXL XXL XXL PL L XL XXL XXL XXL XXL XXL XXL XXL

Fig. 4. Obtaining command output power from EMA command output power by the generation of correction factor.

To obtain command pitch angle (c*) using Method 1, variation of reference output power from the command output power (e) and its variation during a sampled time (e) are used as inputs. The system has triangular membership functions with overlapping. Fig. 5 shows the input and output membership functions. The linguistic variables are represented by NXL (Negative Extra Large), NL (Negative Large), NM (Negative Medium), NS (Negative Small), ZE, PS (Positive Small), PM (Positive Medium), PL (Positive Large), PXL (Positive Extra Large), ZEP (Zero Plus), XXS (Double Extra Small), XS, S, M, L, XL and XXL.

B. Method 2 For smoothing wind power fluctuations, the generated wind power (Pg) has been categorized (stepped by 0.05 p.u.) into stages, which is defined as Power Stage (PS). Minimum value would be taken as a target value (Pg_tar) for the controller of each corresponding PS. If the generated wind power falls under a PS, a pitch angle would be actuated to

shed mechanical power and limit the wind power to Pg_tar of that corresponding PS. For example, if Pg=0.78 p.u. at any instant, a pitch angle would be actuated to make Pg=0.75 p.u. (see PS3 in Table V).
TABLE V POWER STAGES Power stage PS1 PS2 PS3 Range 0.9<Pg0.85 0.85<Pg0.8 0.8<Pg0.75 . . 0.15<Pg0.1 0.1<Pg0.05 0.05<Pg0 Pg_tar 0.85 0.8 0.75

The range of the command pitch angle output is different for each corresponding PS. It generally requires more pitch angle generation as wind power falls in PS of lower levels. The values of x1 and x2 of Fig. 6c are listed in Table VI. The same values of x1 and x2 for PS1 and PS18 refer to singleton output membership function.
TABLE VI COMMAND PITCH ANGLE RANGE FOR FLC-B (METHOD 2) Power stage PS1 PS2 PS3 PS4-PS7 PS8-PS9 PS10 PS11 x1 0 0.2 0.3 0.3 0.4 0.5 0.5 x2 0 0.6 0.7 0.9 1.1 1.2 1.3 Power stage PS12 PS13 PS14 PS15 PS16 PS17 PS18 x1 0.5 0.5 0.5 0.6 0.8 1.5 45 x2 1.4 1.6 1.8 2 6 15 45

PS16 PS17 PS18

0.1 0.05 0

To obtain command pitch angle (c*) using Method 2, variation of reference output power from the target value (e) and its variation during a sampled time (e) are used as inputs. Output power has been divided into stages instead of generator rotor speeds which make the control design easier because the use of the rotor speed would cause non-linear.

It has got 45 rules, which are formed in similar way of (12) and listed in Table VII. Command pitch angle is crisped by the CoG defuzzification method using (13).
TABLE VII RULES OF FUZZY LOGIC SYSTEM (METHOD 2) c* e ZE ZEP XXS XS S M L SL XXL e NL XXS XS S M L XL XXL XXL XXL NS S M L XL XXL XXL XXL XXL XXL ZE ZE ZEP XXS S S L L XXL XXL PS S M L XL XXL XXL XXL XXL XXL PL L XL XXL XXL XXL XXL XXL XXL XXL

V. SIMULATION RESULTS To investigate the effectiveness of the proposed methods, the wind turbine has been connected to the grid. The evaluation has been performed by means of simulation and the comparison of the control action and collective responses of the conventional method (with PI controller) and the proposed methods (with fuzzy logic controller) at the grid. The simulation tool in this study is MATLAB/Simulink. A fluctuating wind has been simulated, which causes wind turbine to operate above rated wind incidents between 102s and 160.2 s and below rated wind incidents for the rest time of 300 s period (Fig. 7a). The wind pattern has been adopted from [1] and [8]. During below rated wind incidents, there is no pitch angle generation by the conventional PI pitch angle controller (Fig. 7b), as there is no point of limiting the generator rotor speed. So the wind turbine operates at highest possible efficiency, but the output active and reactive powers have high fluctuations due to abrupt variations in wind speed (Fig. 7c and 7d). This is because wind power depends on the cube of the wind speed and the input torque can not be controlled [8]. The controller works only when the above rated wind incidents prevail

Fig. 6. Fuzzy sets and their corresponding membership functions using Method 2: (a) e, (b) e and (c) c*.

This system also has triangular membership functions with overlapping. Fig. 6 shows the input and output membership functions. The linguistic variables are represented by ZE, ZEP, XXS, XS, S, M, L, XL, XXL, NS, NL, PS and PL.

Fig. 7. Evaluation of the proposed methods: (a) Wind speed, (b) Pitch angle, (c) Active power, (d) Reactive power, (e) Maximum energy function and (f) Smoothing function.

In this mode, the machine produces current at its maximum rating. So, constant output power is ensured even there are abrupt wind speed variations. The controller activates pitch actuation for shedding mechanical power to prevent generator rotor from going above the control speed limit value. On the other hand, the proposed methods work for smoothing purpose during below rated wind incidents. As the control strategy by the proposed method 1, a command value is generated smaller than the reference output power with the proper selection of correction factor by fuzzy reasoning. The controller actuates pitch to limit the output power so that the output power follows the command value. It means power fluctuation minimization is achievable with the cost of some output power drops. Fig. 7c shows that partially smoothing output power has been achieved during below rated wind incidents. The reactive power absorbed (due to having capacitive loads and being negative) by the generator is also partially smoothed with the generation of partially smoothing active power (Fig. 7d). The proposed method 2 causes pitch actuation to limit the output power to a target value (Pg_tar) during below rated wind incidents. In Fig. 7c, it is seen that the proposed controller sheds the output active power to ensure smoothing output power of 0.7 p.u., as it falls into PS4 when there is no pitch angle generation for the first 40.5 s. We get smoothing output power of 0.65 p.u in the next 57.6 s, smoothing output power of 0.8 p.u. between 161.4 s and 218.4 s and smoothing output power of 0.6 p.u. onwards. This is how active power is always shed to Pg_tar corresponding to the power stage it resides for smoothing the fluctuations. The reactive power absorbed by the generator is also automatically smoothed with the generation of smoothing active power (Fig. 7d). The pitch angle generation for both methods are shown in 7b. The validity of the proposed methods in output power smoothing has been carried out numerically by introducing the

concept of maximum energy function (Pmax) and smoothing function (Psmooth), which are expressed as [8] Pmax = Pg (t )dt
0

(14) dt (15)

Psmooth =

dPg (t ) dt

Fig. 8. Numerical validation of the proposed fuzzy logic controllers: (a) Maximum energy function and (b) Smoothing function.

Larger value of maximum energy function (Pmax) in (14) means higher efficient operation of the wind turbine. As compared with the conventional method, maximum energy functions for both proposed methods drop slightly because the o pitch angle remains fixed at 0 when conventional controller is applied. Since the purpose of this work is to smooth the output power, a drop in the output power can not be avoided. But, this drop should be as minimum as possible for efficient operation. Fig. 8a shows that the maximum power captured by using the proposed methods 1 and 2 are less approximately by

4.7% and 8.28% respectively than that by using the conventional method. We have achieved a great performance in this regard, where output power smoothing was achieved with the cost of approximately 30% drop in output power [8]. On the other hand, if smoothing function (Psmooth) in (15) is small, the output power fluctuation is small, which is the indication of good performance in smoothing output power. Fig. 8b shows that smoothing function drops to about 2/3 and 1/2 due to the application of the proposed methods 1 and 2 respectively in the comparison with the conventional method. We have achieved a greater control on input torque too. The proposed method 1 demonstrates the economic benefit by employing power storage system of smaller capacity besides the controller for partial smoothing purpose. The proposed method 2 ensures complete smoothing with a little more drop in output power than the proposed method 1. It demonstrates no requirement of compensation of output power fluctuations by means of power storage system at least during normal operations ensuring greater economic benefits.

Compensation Using SMES, Elec Eng in Jpn, vol. 149, no. 3, pp. 1523, 2004. [5] S. M. Muyeen, S. Shishido, M. H. Ali, R. Takahashi, T. Murata, and J. Tamura, Application of energy capacitor system to wind power generation, Wind Ener, Vol. 11, no. 4, pp. 335-350. [6] R. Sakamoto, T. Senjyu, T. Kinjo, N. Urasaki, and T. Funabashi, "Output power leveling of wind turbine generator by pitch angle control using adaptive control method," in Int Conf Pow Syst Tech, 2004, pp. 834-839. [7] R. Sakamoto, T. Senjyo, T. Kaneko, N. Urasaki, T. Takagi, S. Sugimoto, and H. Sekine, "Output Power Leveling of Wind Turbine Generator by Pitch Angle Control Using H Control," in IEEE Pow Syst Conf and Expo, 2006, pp. 2044-2049. [8] T. Senjyu, R. Sakamoto, N. Urasaki, T. Funabashi, H. Fujita, and H. Sekine, "Output power leveling of wind turbine Generator for all operating regions by pitch angle control," IEEE Trans Ener Conv, vol. 21, no. 2, pp. 467-475, 2006. [9] M. G. Gracia, M. P. Comech, J. Sallan and A. Llombart, Modelling wind farms for grid disturbance studies, Renew Ener, vol. 33, no. 9, pp. 2109-2121, 2008. [10] SimPowerSystems Model and simulate electrical power systems. Users guide. Natick (MA): The Mathworks Inc.; 2010. [11] NIST/SEMATECH e-Handbook of statistical methods. [Online]. Available: http://www.itl.nist.gov/div898/handbook/index.htm

VIII. BIOGRAPHIES
Md. Ayaz Chowdhury received the bachelor degree in Electrical and Electronic Engineering from Islamic University of Technology (IUT), Bangladesh, in 2007. He worked from 2008 as a Lecturer with International Islamic University Chittagong (IIUC), Bangladesh. He has been working as a Ph.D. student at Swinburne University of Technology, Australia since 2009. His research is mainly focussed on power system dynamics and stability and applications of intelligent control and power compensating device in wind energy systems. Nasser Hosseinzadeh (IEEE-M86, CIGREAPC1) received the Ph.D. degree in Electrical and Electronic Engineering from Victoria University of Technology, Australia in 2002. Earlier, he worked as an Assistant Professor at Shiraz University in Iran, as a Lecturer at Monash University Malaysia and as a Senior Lecturer at Central Queensland University in Australia. He is currently with Swinburne University of Technology, Melbourne as a Senior Lecturer. His special fields of interest include power system analysis and planning, wind energy systems, power system stability, applications of intelligent control in power engineering, and engineering education. Dr. Hosseinzadeh is a Member of IEEE and also is on the Australian Panel C1 (System Development and Economics) of CIGRE. Weixiang Shen (IEEE-M02) received the Ph.D. degree in Electrical and Electronic Engineering from The University of Hong Kong, Hong Kong in 2002. He worked as Lecturer at Department of Electrical Engineering at Hefei University of Technology, China, in 1990 and Associate Professor in 1995. He was Visiting Scholar at University of Stuttgart, Germany, from 1993 to 1994, Lecturer at Monash University, Malaysia, from 2003 to 2008 and Research Fellow at Nanyang Technological University, Singapore, from 2008 to 2009. He is currently with Swinburne University of Technology, Melbourne as a Senior Lecturer. His research interests include battery modelling and charging technology for electric vehicles and renewable energy generation systems, power electronics, and power system. Dr. Shen is a Member of IEEE.

VI. CONCLUSIONS This paper presents two methods of fuzzy logic system for the pitch angle controller to smooth wind power fluctuations during below rated wind incidents by dynamic pitch actuation. The first method is based on the determination of the command output power based on the (Exponential Moving Average) EMA with a proper selection of correction factor by fuzzy reasoning to make output power to follow that command value. The second method is based on the dynamic selections of target output power values according to the wind incident and limit power to obtain the target output. The performances of the proposed fuzzy logic controller with both methods have been compared with that of the conventional PI controller. The results indicate that both of the proposed methods smooth output power fluctuations with significantly small drops of output power as compared to that stated in the previous works. However, the method 1 performs partial smoothing with only 4.7% drop in output power demonstrating the economic benefit by employing power storage system of smaller capacity besides the controller for smoothing purpose. The method 2 performs complete smoothing with 8.28% drop in output power demonstrating greater economic benefits with no requirement of compensation of output power fluctuations by means of power storage system at least during normal operations. VII. REFERENCES
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