Control Systems Lab Project (WIND TURBINE CONTROL)

Section: G (H)

Project Team:
KHURUM HASHMIL2F08BSEE0660 NAJAM UD DIN.L2F08BSEE0688

Session 2008-2012 FACULTY OF ENGINEERING UNIVERSITY OF CENTRAL PUNJAB LAHORE, PAKISTAN

WIND TURBINE CONTROL

ABSTRACT The following system describes a wind turbine running an induction generator through a gear train with the transformation ratio N. The following calculations are made in order to Control the Closed Loop output bringing it to Near idea. The intrinsic constraints involved with varying the parameters such as increased overshoot for quicker rise time have been dealt with accordiongly.

MAIN TRANSFER FUNCTION

Where N is the Gear Train Ratio Substituting typical numerical values in above equation yields result

Putting N=1; we have Gdt(s)= 1.023*1016 *s -----------------------------------------------------------------------------------------------1.864*1011 *s5 + 9.32*1012 *s4 + 1.611*1016 *s3 + 7.211*1017 *s2 + 2.609*1015 *s Simplifying Gdt(s)= 10228490495999998*s -------------------------------------------------------------------------------------------------------------------7840*s*(23776543*s4+1188827150*s3+2054688049000*s2+1972388250000*s+332820000000)

STATE SPACE
A=

B=

C=

D= [0]

Time Response

Rise Time Settling time %age Overshoot Peak time Peak mag (closed loop) Steady State error Stability

123 seconds 220 seconds 0 > 1*10^3 seconds 0.796 21 % Stable

The system attains its peak value in a very large time Span. Even though system is stable Peak amplitude appears only at the termination of the response time So Rise time, Peak time, Settling time all parameters are crowded at the end of the response

ROOT LOCUS
System Has two poles on real axis and two on the imaginary axis One zero at origin Intuitively from the position of the poles the system appears to be marginally stable

Effect of Varying N positively increasing

Figure shows Step response for Transfer functions with Values of N from1 to 10 The greater the value of N. Closer the response to Ideal and System Attains stability much Quicker

We choose N at 10 substituting N=10 Gdt(s)=

1.023*1018 *s ----------------------------------------------------------------------------------------------6.17*1011 *s5 + 3.085*1013 *s4 + 2.004*1016 *s3 + 7.225*1017* s2 + 2.609*1017* s Simplified Gdt(s)= 10228490495999998*N2*s -------------------------------------------------------------------------------------------------------------------2395512000000*s2*(688*s+( *( )+301000*N2*(190120*s2+12600000)*(688*s+(1 9*s2*( ))

STATE SPACE
A=

B=

C=

D= [0]

TIME RESPONSE
System response has modified to be nearer to the ideal. Still, Peak amplitude occurs at the very End and so with the rest of the parameters Rise Time Settling time %age Overshoot Peak time Peak mag (closed loop) Steady State error Stability 1.17 seconds 2.12 seconds 0 >14 seconds 0.796 21 % Stable

ROOT LOCUS
As in case of N=1 System Has two poles on real axis and two on the imaginary axis One zero at origin Intuitively from the position of the poles the system appears to be marginally stable

Frequency Response
For N=1 Showing Frequency Response and Phase angle

For varying values of N from 1 to 10 With increase in N Corner frequency occurs further on at greater frequencies

SIMULINK
Gear Ratio N=1 Original system

Controlling through PID chosen system of Gear Ratio N=10

State Space model

PID Controller GUI

Auto Tuning GUI

CONTROLLING OUTPUT
We have worked with the system with Gearing Ratio (N) =10 so less tuning has to be effected to bring the system nearer to the ideal response Original transfer function with N=10 Gdt(s)= 1.023*1018*s ----------------------------------------------------------------------------------------------6.171*1011 s5 + 3.085*1013 s4 + 2.004*1016*s3 + 7.225*1017*s2 + 2.609*1017*s

The Proportional Integral Derivative (P I D) method is used Controller(s) = 1 Kp + Ki * --- + Kd *s s Auto tuning followed by limited trial and error leads to the following Kp = 3.39008930751897 Ki = 1.4346893216856 Kd = -0.47 Multiplying this with the given transfer function yields

Gdt(s)= -4.807*1017*s3 + 3.468*1018* s2 + 1.467*1018*s --------------------------------------------------------------------------------------------------6.17*1011* s6 + 3.085*1013*s5 + 2.004*1016*s4 + 7.225*1017*s3 + 2.609*1017*s2

Solving in Feedback

Tf(s)= -4.807*1017*s3 + 3.468*1018*s2 + 1.467*1018*s ------------------------------------------------------------------------------

6.17*1011*s6 + 3.085*1013*s5 + 2.004*1016*s4 + 2.418*1017*s3 + 3.728*1018*s2+ 1.467*1018*s

Which is the required transfer function STATE SPACE A=

B=

C=

D= [0]

TIME RESPONSE

Seen in LTI view. Peak response occurs at17.7 seconds. Steady state error is zero the overshoot is so ignorable that does not appear here and system is very close to ideal Rise Time Settling time %age Overshoot Peak time 0.379 seconds 0.649 seconds 0.757 1.34 seconds

Peak mag (closed loop) Steady state error Stability

1.01 1% Stable

ROOT LOCUS

Zoomed in

BODE PLOT

COMPARING PARAMETERS:
N=1 123 seconds 220 seconds 0 > 1*10^3 seconds Peak mag (closed 0.796 loop) Steady State 21 % error Stability Stable Rise Time Settling time %age Overshoot Peak time N=10 1.17 seconds 2.12 seconds 0 >14 seconds 0.796 21 % Stable Tuned Output 0.379 seconds 0.649 seconds 0.757 1.34 seconds 1.01 1% Stable

Increasing the gear ratio Response nears ideal. In addition Propotional Derivative Integrator Controller is used to control peak time and bring it nearer to the beginning of the response

References:
Control Systems Engineering by Norman.S.Nise 6th edition www. Mathworks.com