Abstract
This chapter illustrates how to set up an inexpensive but effective Hardware-in-the-Loop (HIL) platform for the test of wind turbine (WT) controllers. The dynamics of the WT are simulated on the open-source National Renewable Energy Laboratory WT simulator called FAST (Fatigue, Aerodynamics, Structures, and Turbulence), which emulates all required input signals of the controller and reacts to the controller commands (almost) like an onshore real turbine of 5 MW. The dynamic torque control system runs on an open hardware Arduino microcontroller board, which is connected to the virtual WT via USB. In particular, the power generation control in the full load region for variable-speed variable-pitch wind turbines is considered through torque and pitch control. The HIL proposed platform is used to characterize the behavior of the WT in normal operation as well as in fault operation. In particular, a stuck/unstuck fault is modeled and the behavior of a proposed chattering torque controller is analyzed in comparison to a baseline torque controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Abbreviations
- β k :
-
Pitch control, \(k = 1,2,3\)
- τ c :
-
Generator torque control
- ω g :
-
Generator speed
- \(\hat{\omega }_{g}\) :
-
Filtered generator speed
- \(\omega_{\text{ng}}\) :
-
Rated generator speed
- P e :
-
Electrical power
- P ref :
-
Reference power
- θ :
-
Scheduling parameter
- \(\dot{x}\) :
-
Denotes dx/dt
References
Arduino (2014) url: http://arduino.cc
Beltran B, Ahmed-Ali T, El Hachemi Benbouzid M (2008) Sliding mode power control of variable-speed wind energy conversion systems. IEEE Trans Energy Convers 23(2):551–558. Doi: 10.1109/TEC.2007.914163
Beltran B, Ahmed-Ali T, Benbouzid M (2009) High-order sliding-mode control of variable-speed wind turbines. IEEE Trans Ind Electron 56(9):3314–3321. doi:10.1109/TIE.2008.2006949
Bhat S, Bernstein D (1997) Finite-time stability of homogeneous systems. In: American control conference, 1997. Proceedings of the 1997, vol 4, pp 2513–2514. Doi: 10.1109/ACC.1997.609245
Boukhezzar B, Lupu L, Siguerdidjane H, Hand M (2007) Multivariable control strategy for variable speed, variable pitch wind turbines. Renewable Energy 32(8):1273–1287. doi: 10.1016/j.renene.2006.06.010, url: http://www.sciencedirect.com/science/article/pii/S0960148106001261
De Paoli S, Storni C (2011) Produsage in hybrid networks: sociotechnical skills in the case of Arduino. New Rev Hypermedia Multimedia 17(1):31–52
Hanselmann H (1996) Hardware-in-the-loop simulation testing and its integration into a cacsd toolset. In: Computer-aided control system design, 1996., proceedings of the 1996 IEEE international symposium on, IEEE, pp 152–156
Jonkman J (2013) NWTC computer-aided engineering tools (FAST). url: http://wind.nrel.gov/designcodes/simulators/fast/
Jonkman JM, Butterfield S, Musial W, Scott G (2009) Definition of a 5-MW reference wind turbine for offshore system development. Technical report, National Renewable Energy Laboratory, Golden, Colorado, nREL/TP-500-38060
Kelley N, Jonkman B (2013) NWTC computer-aided engineering tools (Turbsim). url: http://wind.nrel.gov/designcodes/preprocessors/turbsim/
Khezami N, Braiek NB, Guillaud X (2010) Wind turbine power tracking using an improved multimodel quadratic approach. ISA Trans 49(3):326–334. Doi: 10.1016/j.isatra.2010.03.008, url: http://www.sciencedirect.com/science/article/pii/S0019057810000273
Maclay D (1997) Simulation gets into the loop. IEEE Rev 43(3):109–112
Manjock A (2005) Evaluation Report: Design codes FAST and ADAMS for load calculations of onshore wind turbines, Germanischer Lloyd WindEnergie, Report no. 72042
Terwiesch P, Keller T, Scheiben E (1999) Rail vehicle control system integration testing using digital hardware-in-the-loop simulation. IEEE Trans Control Syst Technol 7(3):352–362
Vidal Y, Acho L, Luo N, Zapateiro M, Pozo F (2012) Power control design for variable-speed wind turbines. Energies 5(8):3033–3050. doi:10.3390/en5083033
Vincent TL, Grantham WJ (1999) Nonlinear and optimal control systems. John Wiley & Sons, Inc., New York
Zhang Q, Reid J, Wu D et al (2000) Hardware-in-the-loop simulator of an off-road vehicle electrohydraulic steering system. Trans ASAE 43(6):1323–1330
Acknowledgments
This work has been partially funded by the Spanish Ministry of Economy and Competitiveness through the research projects DPI2012-32375/FEDER and DPI2011-28033-C03-01, and by the Catalonia Government through the research project 2014 SGR 859.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Vidal, Y., Acho, L., Luo, N., Tutiven, C. (2014). Hardware in the Loop Wind Turbine Simulator for Control System Testing. In: Luo, N., Vidal, Y., Acho, L. (eds) Wind Turbine Control and Monitoring. Advances in Industrial Control. Springer, Cham. https://doi.org/10.1007/978-3-319-08413-8_15
Download citation
DOI: https://doi.org/10.1007/978-3-319-08413-8_15
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-08412-1
Online ISBN: 978-3-319-08413-8
eBook Packages: EnergyEnergy (R0)