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TECHNICAL PAPERS

A Procedure for the Development of Control-Oriented Linear Models for Horizontal-Axis Large Wind Turbines

[+] Author and Article Information
Shashikanth Suryanarayanan

Department of Mechanical Engineering, Indian Institute of Technology, Bombay, Mumbai 400076, Indiashashisn@iitb.ac.in

Amit Dixit

Department of Mechanical Engineering, Indian Institute of Technology, Bombay, Mumbai 400076, Indiaadixit@iitb.ac.in

National Renewable Energy Lab, Co.

J. Dyn. Sys., Meas., Control 129(4), 469-479 (Oct 26, 2006) (11 pages) doi:10.1115/1.2745852 History: Received February 08, 2006; Revised October 26, 2006

In this work we describe a methodology to construct control-oriented, multi-input, multi-output linear models representing the dynamics of variable-speed, pitch-controlled horizontal-axis wind turbines (HAWT). The turbine is treated as an interconnection of mechanical elements with distributed mass, damping, and stiffness characteristics. The behavior of the structural components of the turbine is approximated as that of their dominant modes and the wind-blade aerodynamic interaction is modeled using the Blade Element Momentum (BEM) theory. The modeling procedure explicitly exploits the horizontal-axis configuration and constraints imposed thereof. The models developed using the outlined procedure are parametrized based on a handful of parameters that are often used to specify mass/stiffness distributions and geometry. The predictions of the linear models so constructed are validated against that of an established nonlinear model. The use of the modeling procedure in addressing problems of immediate interest to the wind turbine industry is presented.

Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 5

Assumed wind turbine model

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Figure 6

Blade twisted coordinate system

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Figure 7

Dynamic relationship between the components of a horizontal axis wind turbine

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Figure 8

Coupling effect between blade-flap and tower fore-aft DOF

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Figure 9

Schematic representation of the drive-train of a large wind turbine

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Figure 11

Rotor of a WT subjected to angular velocities along perpendicular axes

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Figure 12

WT2:OP2, rotor speed for pitch input

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Figure 13

WT2:OP1, rotor speed for wind input

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Figure 15

WT1:OP1, rotor speed for generator torque input

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Figure 16

WT1:OP1, blade-tip flapwise deflection for pitch input

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Figure 17

WT1:OP2, blade-tip edgewise deflection for wind input

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Figure 18

Comparison of simulation results for a 1.5MW WT and its 110th scaled model

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Figure 19

Step response of two “similar” systems

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Figure 1

Schematic of a large horizontal-axis wind turbine

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Figure 2

A schematic view of the wind turbine control problem

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Figure 3

Aerodynamics of blade section

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Figure 4

Control architecture of a typical commercial large wind turbine

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Figure 10

Restoring force due to centrifugal stiffening

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Figure 14

WT1:OP2, tower-top fore-aft deflection for pitch input

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