Pitch Control of Wind Turbine Blades in Noisy and Unstable Wind Conditions

Mohsen Faridi
Islamic Azad University, Khodabandeh Branch Khodabandeh, Iran mo.faridi@gmail.com

Roghaiyeh Ansari
Electrical Engineering Department Tabriz University Tabriz, Iran ransary915@yahoo.com

seyed Ali Mousavi

Electrical Engineering Department KTH University Sweden ali.sam2006@gmail.com

Mahsa Dodman
Zanjan University Zanjan, Iran m.dodman@yahoo.com

AbstractIn this paper, a new approach for control of the pitch angle of the wind turbine is represented in an unstable and noisy circumstance. Moreover, it is demonstrated that output power of the wind turbine can be efficiently controlled by the proposed control system. This method enhances (amends) the stability of the wind turbine. Besides, it improves the regulation of the output power. Also, a comparative study of the proposed control system with a constant pitch angle wind turbines is depicted. For modeling, real data of the wind turbine, model V74 Vestats, and noisy wind model of Manjil area is used. Keywords-wind turbine; induction generator; modeling; pitch angel

presented [6]. The mentioned software includes all tools for wind turbine modeling. The aim of this work is investigation on control system and modeling of the pitch angle of wind turbine blade in adverse circumstances via software PSCAD/EMTDC. Recently, this software is widely employed to analyze the transient states. II. MODELING OF WIND FARM

A wind farm model working with variable wind speed is composed of the following components: abcdWind model Wind turbine and induction generator model Capacitive bank model Transmission line model

I.

INTRODUCTION

Wind turbine is usually connected to the distribution network like the other distributed generations. It is clear that a generating system cannot be easily connected to the power system unless functionally, comprehensive knowledge and investigations of the control preparation and grid connection are available. Prerequisite of this mentioned knowledge is accessibility to a proper tools for simulation and determining the connections dynamics of the wind turbine during the confronting the power network. In this paper, for simulation PSCAD/EMTDC is employed. Such a wind turbine system as other types of dispersed generation is mostly connected to distribution feeders and the generation system cannot be easily connected to the electric power network without conducting comprehensive evaluations of control performance and grid impacts. This requires a reliable tool for simulating and assessing dynamics of a grid connected variable speed wind turbine [6]. Albeit, numerous researches about the wind turbines and the advantages and disadvantages of wind turbines has been accomplished in the literature like works on turbine models in power dynamics simulations [1, 2], model of WT for power quality [3], a general model for variable speed wind turbines for power system dynamics simulations [4] and modeling of the wind farms in the load flow analysis [5]. A little attention is given to the modeling and state control investigation of the pitch angle of the WT in unstable circumstances that has a great impact on stabilizing of the WT and following its effect on stabilizing the wind plant. All the mathematical and control equations, dominating the elements in PSCAD/EMTDC, are

Configuration of the mentioned model is represented in Fig. 1.

Figure 1. A model wind turbine related to infinite bus

III.

PROPOSED CONTROL STRATEGY

In wind turbines operating with induction machine and variable speed, load torque is directly such controlled that the rotor speed of turbine changes in its allowable bound. Advantage of a variable speed wind turbine is that the rotor speed is adjustable with respect to the ratio of wind speed. At this state the speed rate is optimum. Therefore, CP is maximum, meaning that energy conversion rate is maximum. Generally, two control objectives are followed in the variable wind turbine systems that are dependent on wind: Finally, complete content

Islamic Azad University, Khodabadeh Branch, Iran

and organizational editing before formatting. Please take note of the following items when proofreading spelling and grammar: a) Obtaining a constant and optimum speed rate and obtaining maximum CP, at low speeds. b) Maintaining the value of the output power in a constant value for overcoming the overload problem. Both aforementioned control strategies are feasible by control of the wind speed and pitch angle control of wind turbine blade. Control of speed of wind turbine is possible by adjusting the torque and rotor power. Furthermore, control of the blade is a conventional way to tune the aerodynamics power. Aerodynamics model of wind turbine clarifies that variation of the blade angle has great impact on aerodynamics coefficient which is dependent on wind blowing path or orientation of rotating pate. Any small change in blade pitch angle can lead to notable change in output power. At low wind speeds, a wind turbine has to generate as much power as possible. Then, pitch angle must be kept invariant fixed, at optimum pitch angle, in order to generate maximum output power. At high speeds, pitch angle control via rotor leads to high amount of generated power, of course regarding the design calculation restrictions. For locating the blade at required value, variant control systems are applied. The governor control diagram is depicted in Fig. 2.
KP

Consider that on the presented root locus KP=0.523, KI=0.523 and K4=0.1. Also, the Bode Diagram related to aforementioned transfer function is represented in Fig .4.
100 50 0 -50 -100 -90

Phase (Deg)

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Figure 4. Bode Plot relate to transfer function

IV.

SIMULATION RESULTS AND ITS INVESTIGATION

Configuration of the system connection to the transmission line is depicted in Fig .5.

P ref

KI s

Rate Limiter
1

Filter

K4 s

Beta

P g

Figure 5. Configuration of the transmission line

Limiter

Figure 2. Governor control block diagram

On the control diagram, Fig .2, Pref is the required power MW; Pg is the output of machine p.u.; KP is the proportional gain /p.u.; KI is the Integrating gain /p.u.; and K4 is the integrating gain of blade actuator exciter s. The root locus of transfer function Y= (Pitch Angle)/Pg is depicted in Fig .3.
1 0.8

Regarding the Fig .5, the transmission system includes the wind turbine, a local load and an infinite bus. The parameters of the lines and the transformers can be found in Fig .5. Fig .6 presents a power system for simulating in PSCAD/EMTDC software.
f fer

Freq/Phas e Vrms Measurement ph

#2 1.0

#1 R=0

Power Q B

0.6 0.4
#1

fer P Pbus

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Image

0 -0.2 -0.4 -0.6 -0.8 -1 -2.5 -2 -1.5

Real

Qbus Qbus Pbus

wt0 wind

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Figure 3. Root locus

Figure 6. Model of a power system for simulation

Active Power (p.u.)

A. Investigation on the Pitch Angle Control System Operation During the Installation Schema of Fig .7 shows the pitch angle changes where the wind speed is constant, 10 m/s. As demonstrated in the schema, the pitch angle reaches its steady state after 20 second. Also, Fig .8 presents the active power diagram where the speed is 10 m/s.
8 7 6
Pitch Angle (degree)

3 2.5 2 1.5 1 0.5 0 -0.5 -1 -1.5 -2 -2.5 0 5 10 15 20 25 Time (s) 30 35 40 45 50

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Time (s)

Figure 10. The active power changes of wind turbin generator where the wind speed is constant, 15 m/s

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Figure 7. The pitch angle changes where the wind speed is constant, 10 m/s
1.5 1 0.5 Active Power (p.u.) 0 -0.5 -1 -1.5 -2 -2.5

B. Investigation on the Pitch Angle Control System Operation During a Gust Wind Fig .11 illustrates a constant wind speed, 10 m/s, which a gust wind on interval 40 s, with maximum 6 m/s magnitude occurs. Diagram depicted in Fig .12 represents the pitch angle variation where the wind speed changes. Also, its active power variation for mentioned state is illustrated in Fig . 13.
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Figure 8. The active power changes of wind turbine generator where the wind speed is constant, 10 m/s

In Fig .9, the pitch angle is depicted at the different times for the constant wind speed equal 15 m/s. Considering Fig . 9, the pitch angle reaches its steady state in 20 second, but in comparison to Fig .8 it has an overshot at the time about 12. The active power at the mentioned state is shown in Fig .10.

Figure 11. A constant wind speed, 10 m/s, which a gust wind with maximum 6 m/s magnitude
20 18 16 14
Pitch Angle (Degree)

12 10 8 6 4

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Pitch Angle (Degree)

15

2 0

10

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Figure 12. The pitch angle variation for mentioned state

0 0 5 10 15 20 25
Time (s)

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Figure 9. The pitch angle changes where the wind speed is costant, 15 m/s

Figure 15. The reaction of the pitch angle to the noisy wind
3 2.5 2 1.5 Active Power (p.u.) 1 0.5 0 -0.5 -1 -1.5 -2 0 10 20 30 Time (s) 40 50 60

Active Power (p.u.)

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Time (s)

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Figure 13. The active power changes for mentioned state

C. Investigation on the Pitch Angle Control System During the Noise Wind Fig .14 depicts a noise wind and Fig .15 portrays the reaction of the pitch angle to the noise wind .In addition, active power variation is represented in Fig .16.
12.4 12.3 12.2
Speed Wind (m/s)

Figure 16. The active power changes of wind turbine generator providing outbreak noisy wind

V.

CONCLUSION

12.1 12 11.9 11.8 11.7

An appropriate control system was proposed for varying the pitch angle in an unstable and noisy circumstance. Achieved results represents that output power regulation can be improved by proposed control system. The proposed control system is experimented on a real wind turbine by using the practical data of the noisy and gust wind of the Manjil area. Experimental results show that the system reaches the steady state within less than 20 second. REFERENCES
[1]

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Time (s)

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[2]

Figure 14. Model of noisy wind

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[3]

[4]

Pitch Angle (Degree)

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[5]
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[6]

R. P. Mukund, Wind and Solar Power Systems, CRC Press, USA, pp. 8182, 1999. J. G. Slootweg, H. Polinder and W. L. Kling, Initialization of Wind Turbine Models in Power System Dynamics Simulations, IEEE Porto Power Tech Conference, 2001. D. H. Anca, P. Sorensen, L. Janosi and J. Bech, Wind Farm Modelling for Power Quality, The 27th Annual Conference of The IEEE Industrial Electronics Society, 2001, pp. 19591964. J. G. Slootweg, S. W. H. Haan, H. Polinder and W. L. Kling, General Model for Representing Variable Speed Wind Turbins in Power System Dynamics Simulations, IEEE Transactions on Power Systems, vol. 18, no. 1, 2003, pp. 144-151. A. E. Feijoo and J. Cidras, Modelling of Wind Farms in the Load Flow Analysis, IEEE Transactions on Power Systems, vol. 15, no. 1, 2000, pp. 110-115. Manitoba HVDC Research Center, PSCAD/EMTDC Power System Simulation Software Users Manual Version 4, 2004 Release.

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Time (s)

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