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 Gunawardana
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 Jagath Sri Lal Senanayake

2.  Introduction
 Verifying Regions in Wind Power Controlling
 Design of Controllers
 Design of Gear Box
 Simulation Results
 Demonstration
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4. Wind High-speed Shaft
Sensors Mechanical brake
Gearbox
Blade
Generator
Pitch drive
Hub
Yaw drives
Rotor main shaft Main bearing
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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 speed
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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.
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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 value
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11. 1. Torque controller
2. Pitch controller
Power 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
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13. Power
Wind Speed
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14. Power
Wind Speed
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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)
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16. 2. Pitch Controller
Torque
Controller
 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
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17. Wind Rotor & Gear System
Generator Rotor & Gear System
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19. Gear Box with Planetary Gear System & Two Helical Gears
The 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 4
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21. Torque Break controller Wind Torque
controller signal signal captured
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22. • Diagram view
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23. • 3D view
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25. SimulationX Results
Region 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]
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26. SimulationX Results
Region 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]
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27. SimulationX Results
Region 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]
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28. SimulationX Results
Region 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]
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29. SimulationX Results
Region 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]
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30. SimulationX Results
Wind speed is increased from 0 to 25 m/s in 60 seconds and remains at 25 m/s speed
Wind Speed [m/s] Generator Speed [rad/s]
Available Wind Power [W] Generator Torque [Nm]
Pitch Angle [deg] Generator Power [W]
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31. SimulationX Results
Wind speed is increased 5 m/s stepwise from 3 to 28 m/s in 90 seconds
Wind Speed [m/s] Generator Speed [rad/s]
Available Wind Power [W] Generator Torque [Nm]
Pitch Angle [deg] Generator Power [W]
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32. SimulationX Results
Impulse 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]
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33. SimulationX Results
Impulse 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]
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34. SimulationX Results
Impulse 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]
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36. THANK YOU
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