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Performance improvement of variable speed wind turbine by uncertainty estimator-based robust control design

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Abstract

The development of a robust control system for a variable speed wind turbine (VSWT) is presented in this paper. The proposed controller is designed for torque and pitch control of VSWT operation based on the uncertainty estimator and output feedback for the extraction of utmost power from the wind. A suitable reference model has been obtained for smooth tracking of rotor speed and estimating the uncertainty. The simulation study has been made to show the efficacy of the robust controller designed for VSWT. The performance of the proposed controller has been analyzed by a comparative evaluation with the standard controllers of the wind turbines in terms of the degree of rotor speed tracking, elimination of the effect of uncertainties, maximum power extraction, etc. It is found that the performance of the VSWT operation using the proposed control scheme has been improved significantly in comparison to a few existing control schemes.

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Abbreviations

\(C_{{\text{p}}}\) :

Performance coefficient

\(C_{{p_{\max } }}\) :

Maximum performance coefficient

\(R\) :

Radius of blade

\(\rho\) :

Air density

\(\nu_{{\text{w}}}\) :

Speed of wind

\(\nu_{{\text{w}}}^{r}\) :

Relative wind speed

\(\lambda\) :

Tip-speed ratio

\(\lambda_{{{\text{opt}}}}\) :

Optimal tip-speed ratio

\(F_{{\text{t}}}\) :

Thrust force

\(C_{{\text{t}}}\) :

Coefficient of thrust

\(j_{{\text{r}}}\) :

Moment of inertia (rotor side)

\(j_{{\text{g}}}\) :

Moment of inertia (generator side)

\(d_{{\text{s}}}\) :

Low speed flexible shaft’s damping coefficient

\(k_{{\text{s}}}\) :

Spring constant

\(\delta\) :

Twist

\(t_{{{\text{d}},{\text{r}}}}\) :

Torque at rotor side of the transmission

\(t_{{{\text{d}},{\text{g}}}}\) :

Torque at generator side of the transmission

\(n_{g}\) :

Gear box ratio

\(\xi\) :

Displacement of nacelle

\(t_{{\text{r}}}\) :

Rotor torque

\(t_{{\text{g}}}\) :

Generator torque

\(\mho_{{\text{r}}}\) :

Angular position of the rotor shaft

\(\mho_{{\text{g}}}\) :

Angular position of the generator shaft

\(\omega_{{\text{r}}}\) :

Angular velocities of rotor

\(\omega_{{\text{r,opt}}}\) :

Optimal angular velocities of rotor

\(\omega_{{{\text{rated}}}}\) :

Rated angular velocities of rotor

\(\omega_{{\text{g}}}\) :

Angular velocities of generator

\(\omega_{{{\text{g}}_{{{\text{nom}}}} }}\) :

Nominal angular velocity of generator

\(m_{{\text{t}}}\) :

Mass constant of tower

\(d_{{\text{t}}}\) :

Damping constant

\(k_{{\text{t}}}\) :

Spring constant

\(\tau_{{\text{T}}}\) :

Time constant

\(T_{{\text{g}}}\) :

Generator torque

\(T_{{{\text{g.ref}}}}\) :

Reference generator torque

\(\theta\) :

Pitch angle of blade

\(\theta_{{{\text{ref}}}}\) :

Reference pitch angle

\(\theta_{{{\text{opt}}}}\) :

Optimal pitch angle

\(\omega_{n}\) :

Natural frequency of actuator

\(\zeta\) :

Damping of pitch actuator

\(P_{{\text{o}}}\) :

Power output

\(P_{{\text{o,nom}}}\) :

Nominal power output

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Authors and Affiliations

  1. School of Renewable Energy and Efficiency, National Institute of Technology Kurukshetra, Kurukshetra, India

    Alok Kumar Pandey

  2. Department of Electrical Engineering, National Institute of Technology Kurukshetra, Kurukshetra, India

    Alok Kumar Pandey

  3. Department of Electrical Engineering, National Institute of Technology Kurukshetra, Kurukshetra, India

    Bhanu Pratap & Akhilesh Swarup

Authors
  1. Alok Kumar Pandey
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  2. Bhanu Pratap
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  3. Akhilesh Swarup
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Correspondence to Bhanu Pratap.

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Appendix

Appendix

The parameters of the considered VSWT are listed in Table 3, which have been used in simulation.

Table 3 VSWT System Parameters [7]
Full size table

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Pandey, A.K., Pratap, B. & Swarup, A. Performance improvement of variable speed wind turbine by uncertainty estimator-based robust control design. Int J Energy Environ Eng 13, 1163–1175 (2022). https://doi.org/10.1007/s40095-022-00478-5

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