control aspects of wind turbines · f. hafiz and a. abdennour, “optimal use of kinetic energy for...
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FaizalHafiz,
WindEnergyResearchGroup,SETCenter
CONTROL ASPECTS OF WIND TURBINES
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Presentation Outline
PowerinWind
MaximumPowerPointTracking
ConnectionTopologies
ActivePowerControl– How?
GridIntegration:Challenges
GridIntegration:PossibleSolutions
IntelligentControl
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Power in the wind
Thetotalpowerthatisavailabletoawindinwatts,Pw 0.5mw v2 0.5ρAv3,
where,mw ρAvρ densityoftheair(kg/m3)A theexposedarea(m2)v thevelocity(m/s)
Themechanicalpower,Pm cp Pw 0.5cp mw v2 0.5ρcp Av3
where,cp performancecoefficient
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Power in the wind – Bet’z Limit
Assume,inletwindvelocityis‘vi’ andtheoutputvelocityis‘vo’andthemassflowrate,mw,throughthesystemisapproximately‘ρ Avave’
where, .
Wind Power,Pw
1
Solvingformaximumvalue,
P P 0.593
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Power in the wind
Cp isafunctionofbothλ&θ(pitchangle),
Cp f λ,θ
where,
Tipspeedratio,λ ωt R/vwind
ωt turbinerotationalspeed
R rotorradius
vwind windspeed.0 5 10 15
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
Tip speed ratio
Cp
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Power in the wind
0 0.5 1 1.5 2 2.5 3 3.5-1
-0.5
0
0.5
1
1.5
2
2.5
3
3.5
4x 106
rotational speed
Mec
hani
cal p
ower
4 m/s6 m/s 7 m/s
8 m/s
9 m/s
10 m/s
11 m/s
12 m/s
13 m/s
14 m/s15 m/s
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Power Curve ‐ Hysteresis
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General Structure of WECS8
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Danish Concept – Fixed Speed 9
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Direct in line wind turbine system10
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Doubly Fed Induction Generator (DFIG)
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Active Power ControlHowdotheydoit?
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Model of Wound Rotor Induction Machine13
cri32πrθcosbri3
2πrθcosarirθcossrLcsibsimut,sLasileak,sLself,sLasλ
where,dtcsdλ
csisRcsvdtbsdλ
bsisRbsvdtasdλ
asisRasv
winding,statorforequationsframe,abc in model Machine
&,
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Reference Frame Theory
i ds
i driqs
iqr
120θcos120θcos
cosθ
120θsin120θsin
sinθ1sT
given by,rmation isse transfoand inver
120θcos120θsin
120θcos120θsin
cosθsinθ
32
sT
,is axes abc from axes q-d intoquantity convert to matrix tionTransforma
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Control Concept –Line Voltage Oriented Control
15
dsisrdsvqsλand
qsλdrissLmL
dsiqsλ
dsiqsλqsidsλeT
by,givenisframeorientedvoltagelineintorqueneticElectromag
,
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MPPT‐Maximum Power Point Tracking
Turbinecharacteristicsandtrackingcharacteristic Referencecurrentcalculationsfortrackingmaximumpowerpoint.
*eT
qsλmLssL*
dri
*driqsλ
ssLmL*
eT
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Rotor Side Current Controller
Kp3 +ki3 /s
S*Lrr
Kp2 +ki2 /s
S*Lrr
Kp2 +ki2 /s
S*Lm
S*Lm
QrefIqr*
Idr*
Iqr
Idr
Ids
Iqs
Vqr*
Vdr*
Vq’
Vd’
Q
x2
x3 x4
Lss / Lmλs
MPPT
Te*
dsmsdrrrs'
q*
qr
qsmsqrrrs'
d*
dr
iLsωiLsωvv
iLsωiLsωvv
17
dsisrdsvqsλ
qsλdtdsdλ
sω1
dsisrdsv
*eT
qsλmLssL*
dri
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Rotor Side Converter Control
dsisrdsvqsλ
qsλdtdsdλ
sω1
dsisrdsv
*eT
qsλmLssL*
dri
18
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Grid Integration
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Grid Integration
Concerns:
LVRT,GridSupportServices,EconomicConcerns
PossibleSolutions:
Ancillarygridsupportservices
WindPowerForecasts
IntelligentControl:NatureMimickingAlgorithms
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Grid Inertia
GirdInertia:Supply– Demand
mismatch
SynchronousGenerator:Inherent
Response
WindTurbines
Inertia?
PrimaryFrequency
Support?Courtesy:GEEnergy
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Intelligent Inertia Emulation
Objectives, AdaptiveInertiaControllerforIndividualWT WFlevelcontrol&Co‐ordination Short‐TermWindForecasting
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Inertial Response: Challenge
6 7 8 9 10 11 12 13 14 150.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
Wind Speed (m/s)
Rot
or S
peed
and
Act
ive
Pow
er (p
u)
wrPe
G. Lalor, A. Mullane, and M. O'Malley, "Frequency control andwind turbine technologies," Power Systems, IEEETransactions on, vol. 20, pp. 1905‐1913, 2005.
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Inertial Response: Possible Solution
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Inertial Response: Possible Solution
0 10 20 30 40 50 60 70 80
0.2
0.25
0.3
0.35
0.4
0.45
0.5
Time (s)
WT
Act
ive
Pow
er (p
u)
No SupportSOP-2PD
Wind Speed : 7.0 m/s
0 10 20 30 40 50 60 70 80 90 1000.72
0.74
0.76
0.78
0.8
0.82
0.84
0.86
0.88
0.9
Time (s)
WT
Rot
or S
peed
(pu)
No SupportSOP2PD
Wind Speed : 7.0 m/s
0 5 10 15 20 25 30 35 40 45 5048.2
48.4
48.6
48.8
49
49.2
49.4
49.6
49.8
50
Time (s)
Freq
uenc
y (H
z)
No SupportSOP-2PD
Wind Speed : 7.0 m/s
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Inertial Response: Opportunities
0.05
0.1
0.15
0.2
0.25
0.3
7 89 10 11 12 13 14 15
0
20
40
60
Additional Power,Psupport (pu) Wind Speed (m/s)
Tim
e to
hit
the
min
imum
roto
r spe
edTs
uppo
rt,m
ax (s
)
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Inertia Emulation: Proposed Approach ‐ 1
0 5 10 15 20 25 30 35 40 45 5048.2
48.4
48.6
48.8
49
49.2
49.4
49.6
49.8
50
Time (s)
Freq
uenc
y (H
z)
No SupportSOP-1SOP-2PDOSOP
Wind Speed : 7.0 m/s
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Inertia Emulation: Proposed Approach ‐ 2
0 50 100 150 200 250
48.5
49
49.5
50
Time (s)
Freq
uenc
y (H
z)
No SupportPDAIC
A B
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MPPT, Desirable?
29
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Effects of Aggregation30
1 Wind t u r b in e 30 Wind turbines 150 Wind turbines 300 Wind turbines
Reproduced from “Wind Power in Power Systems”, Wiley, Ed. Thomas Ackermann, pp. 37
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Further Possibilities
FutureResearch Effectofwakesoninertialsupport ActivePowerControlforPrimaryFrequencySupport(PFS) Co‐ordinationofWTsforPFS WindFarmlevelControl Short‐TermWindForecasting
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Nature Inspired Algorithms
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Nature Inspired Algorithms
NeuralComputation– thebrain
EvolutionaryComputation– evolution
SwarmIntelligence– groupbehavior
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Swarm Intelligence
Collectivebehaviorsof(unsophisticated)agents Nocentralizedcontrol Collective(ordistributed)problemsolving Leveragethepowerofcomplexadaptivesystemstosolvedifficultnon‐linear
stochasticproblems
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Swarm in Action
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Research
JournalPublications:1. F.HafizandA.Abdennour,"Ateam‐orientedapproachtoparticleswarms,"AppliedSoftComputing(IF:2.86),
Elsevier,vol.13,pp.3776‐3791,2013.
2. F.HafizandA.Abdennour,“Optimaluseofkineticenergyfortheinertialsupportfromvariablespeedwindturbines”,RenewableEnergy(IF:3.36),Volume80,Pages629‐643,August2015.
3. F.HafizandA.Abdennour,"ANeuro‐FuzzyAdaptiveInertiaControllerforVariableSpeedWindTurbines,"RenewableEnergy,Elsevier(IF:3.36),UnderReview
4. F.HafizandA.Abdennour,"ParticleSwarmAlgorithmvariantsfortheQuadraticAssignmentProblems‐ Aprobabilisticlearningapproach",ExpertSystemswithApplications,Elsevier,(IF:2.24),pp.413‐431,2016
5. F.HafizandA.Abdennour,"Discreteteamorientedparticleswarmstosolvethequadraticassignmentproblems",IEEETransactionsonSystem,ManandCybernetics:Systems(IF:2.17),UnderReview
ConferenceProceedings: F.HafizandA.Abdennour,"OptimalInertialSupportfromtheVariableSpeedWindTurbinesusingParticleSwarm
Optimization",9thIFACSymposiumonControlofPowerandEnergySystems(CPES),2015
F.M.F.Hafiz,R.Roy,R.Maurya,andS.Ghoshal;"PSOOptimizedSmallSignalStabilityAnalysisofDFIGforWECS";CurrentTrendsinTechnology,Nirma University,Ahmadabad;286‐292;ExcelIndiaPublishers;2008.
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Thank You