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Design of Wind Turbine             Controllers in SimulationX                 MAS407 Modelling & Simulation of Mechatronic...
 Introduction Verifying Regions in Wind Power Controlling Design of Controllers Design of Gear Box Simulation Results...
12/13/2012   3
Wind                   High-speed Shaft   Sensors                              Mechanical brake                           ...
12/13/2012   5
 Turbine starts generating power at lower set wind speed.              Power increases with increase in wind speed up to...
Region I• This is max-Cp region where the pitch angle is set to  zero & the tip speed ratio is maintained at constant  by ...
Region II• This reveals a transition region between other two  regions, that is the max-Cp(Region II) and power  regulatio...
12/13/2012   9
12/13/2012   10
1. Torque controller                 2. Pitch controllerPower                                          Rotor         Torqu...
12/13/2012   12
Power                     Wind Speed12/13/2012                13
Power                     Wind Speed12/13/2012                 14
1. Generator Torque Controller      Reference Speed (W_ref)             if u.y<5.811 then 0 else if u.y<10 then 6*n_gear*...
2. Pitch ControllerTorqueController         Tg_ref            if u.y<12.79 then T_gen.y else if u.y<=25 then 2.1e6/W_ref....
Wind Rotor & Gear System  Generator Rotor & Gear System12/13/2012                                                   17
12/13/2012   18
Gear Box with Planetary Gear System & Two Helical GearsThe Overall Gear Ratio   = Max. Speed of the Generator             ...
12/13/2012   20
Torque              Break controller   Wind Torquecontroller signal   signal             captured 12/13/2012              ...
• Diagram view12/13/2012       22
• 3D view12/13/2012   23
12/13/2012   24
SimulationX ResultsRegion A Operation [Wind speed is constant at 5 m/s] Wind Speed [m/s]                                Ge...
SimulationX ResultsRegion B Operation [Wind speed is constant at 8 m/s] Wind Speed [m/s]                                Ge...
SimulationX ResultsRegion C Operation [Wind speed is constant at 12 m/s] Wind Speed [m/s]                                G...
SimulationX ResultsRegion D Operation [Wind speed is constant at 18 m/s] Wind Speed [m/s]                                G...
SimulationX ResultsRegion E Operation [Wind speed is constant at 26 m/s] Wind Speed [m/s]                                G...
SimulationX ResultsWind speed is increased from 0 to 25 m/s in 60 seconds and remains at 25 m/s speedWind Speed [m/s]     ...
SimulationX ResultsWind speed is increased 5 m/s stepwise from 3 to 28 m/s in 90 secondsWind Speed [m/s]                  ...
SimulationX ResultsImpulse Response: Wind speed is increased from 8 to 13 m/s and decreased back to 8 m/s in 1s    Wind Sp...
SimulationX ResultsImpulse Response: Wind speed is increased from 11 to 16 m/s and decreased back to 11 m/s in 1s     Wind...
SimulationX ResultsImpulse Response: Wind speed is increased from 14 to 19 m/s and decreased back to 14 m/s in 1s     Wind...
12/13/2012   35
THANK YOU12/13/2012               36
12/13/2012   37
12/13/2012   38
12/13/2012   39
12/13/2012   40
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Design of wind turbine controllers in simulation x jagath_ireshika_bernad_dimuthu dharshana

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Design of wind turbine controllers in simulation x jagath_ireshika_bernad_dimuthu dharshana

  1. 1. Design of Wind Turbine Controllers in SimulationX MAS407 Modelling & Simulation of Mechatronic Systems Autumn 2012 University of Agder, Norway  Subodha Tharangi Ireshika  Dimuthu Dharshana Kodippili Arachchige  Bernard Sisara Gunawardana12/13/2012 1  Jagath Sri Lal Senanayake
  2. 2.  Introduction Verifying Regions in Wind Power Controlling Design of Controllers Design of Gear Box Simulation Results Demonstration12/13/2012 2
  3. 3. 12/13/2012 3
  4. 4. Wind High-speed Shaft Sensors Mechanical brake Gearbox Blade Generator Pitch drive Hub Yaw drives Rotor main shaft Main bearing12/13/2012 4
  5. 5. 12/13/2012 5
  6. 6.  Turbine starts generating power at lower set wind speed.  Power increases with increase in wind speed up to a rated wind speed and rated power.  Power output remains constant at rated power between the rated wind speed and the cut-out speed  Turbines stops operating speeds higher than the cut-out speed12/13/2012 due to safety reason. 6
  7. 7. Region I• This is max-Cp region where the pitch angle is set to zero & the tip speed ratio is maintained at constant by varying the rotor speed.• The generator torque is controlled so that the rotor speed is proportional to wind speed.• In this max-Cp region, the generator torque control is active only, while the blade pitch controller is inactive.12/13/2012 7
  8. 8. Region II• This reveals a transition region between other two regions, that is the max-Cp(Region II) and power regulation region (Region III)• Maximum allowable tip speed is maintained• Variation of the λ is inversely proportional to the wind speed• Region transits when the obtainable air power reaches the nominal value12/13/2012 8
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  11. 11. 1. Torque controller 2. Pitch controllerPower Rotor Torque Controller Pitch Controller Speed Pn n E Region III D Region II Region I C A B ucut-in ub uc ucut-off ucut-in ub uc ucut-off Wind Speed Wind Speed 12/13/2012 11
  12. 12. 12/13/2012 12
  13. 13. Power Wind Speed12/13/2012 13
  14. 14. Power Wind Speed12/13/2012 14
  15. 15. 1. Generator Torque Controller  Reference Speed (W_ref) if u.y<5.811 then 0 else if u.y<10 then 6*n_gear*u.y/35 else if u.y<12.79 then w_nom else if u.y<=25 then w_nom else 0  Controller (PID1)12/13/2012 15
  16. 16. 2. Pitch ControllerTorqueController  Tg_ref if u.y<12.79 then T_gen.y else if u.y<=25 then 2.1e6/W_ref.y else 0  pID_Pitch 12/13/2012 16
  17. 17. Wind Rotor & Gear System Generator Rotor & Gear System12/13/2012 17
  18. 18. 12/13/2012 18
  19. 19. Gear Box with Planetary Gear System & Two Helical GearsThe Overall Gear Ratio = Max. Speed of the Generator Max. Speed of the Rotor = 94.68 = Planetary X Helical 1 X Helical 2 Gear Ratio Gear Ratio Gear Ratio Selected values 6 4 412/13/2012 19
  20. 20. 12/13/2012 20
  21. 21. Torque Break controller Wind Torquecontroller signal signal captured 12/13/2012 21
  22. 22. • Diagram view12/13/2012 22
  23. 23. • 3D view12/13/2012 23
  24. 24. 12/13/2012 24
  25. 25. SimulationX ResultsRegion A Operation [Wind speed is constant at 5 m/s] Wind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W] 12/13/2012 25
  26. 26. SimulationX ResultsRegion B Operation [Wind speed is constant at 8 m/s] Wind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W] 12/13/2012 26
  27. 27. SimulationX ResultsRegion C Operation [Wind speed is constant at 12 m/s] Wind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W] 12/13/2012 27
  28. 28. SimulationX ResultsRegion D Operation [Wind speed is constant at 18 m/s] Wind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W] 12/13/2012 28
  29. 29. SimulationX ResultsRegion E Operation [Wind speed is constant at 26 m/s] Wind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W] 12/13/2012 29
  30. 30. SimulationX ResultsWind speed is increased from 0 to 25 m/s in 60 seconds and remains at 25 m/s speedWind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W]12/13/2012 30
  31. 31. SimulationX ResultsWind speed is increased 5 m/s stepwise from 3 to 28 m/s in 90 secondsWind Speed [m/s] Generator Speed [rad/s]Available Wind Power [W] Generator Torque [Nm]Pitch Angle [deg] Generator Power [W]12/13/2012 31
  32. 32. SimulationX ResultsImpulse Response: Wind speed is increased from 8 to 13 m/s and decreased back to 8 m/s in 1s Wind Speed [m/s] Generator Speed [rad/s] Available Wind Power [W] Generator Torque [Nm] Pitch Angle [deg] Generator Power [W] 12/13/2012 32
  33. 33. SimulationX ResultsImpulse Response: Wind speed is increased from 11 to 16 m/s and decreased back to 11 m/s in 1s Wind Speed [m/s] Generator Speed [rad/s] Available Wind Power [W] Generator Torque [Nm] Pitch Angle [deg] Generator Power [W] 12/13/2012 33
  34. 34. SimulationX ResultsImpulse Response: Wind speed is increased from 14 to 19 m/s and decreased back to 14 m/s in 1s Wind Speed [m/s] Generator Speed [rad/s] Available Wind Power [W] Generator Torque [Nm] Pitch Angle [deg] Generator Power [W] 12/13/2012 34
  35. 35. 12/13/2012 35
  36. 36. THANK YOU12/13/2012 36
  37. 37. 12/13/2012 37
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