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TECHNICAL PAPERS

Full-State Feedback Control of a Variable-Speed Wind Turbine: A Comparison of Periodic and Constant Gains

[+] Author and Article Information
Karl Stol, Mark Balas

Department of Aerospace Engineering Science, University of Colorado at Boulder, Boulder CO

J. Sol. Energy Eng 123(4), 319-326 (Jul 01, 2001) (8 pages) doi:10.1115/1.1412237 History: Received March 01, 2001; Revised July 01, 2001
Copyright © 2001 by ASME
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References

Hand,  M., and Balas,  M., 2000, “Systematic Controller Design Methodology for Variable-Speed Wind Turbines,” J. Wind Eng., 24, pp. 169–187.
Bassanyi, E. A., 2000, “Developments in Closed Loop Controller Design for Wind Turbines,” Proc. of 19th ASME Wind Energy Symp., Reno NV, pp. 64–74.
Mechanical Dynamics, 1998, Using ADAMS/Solver (v9.1), Mechanical Dynamics, Inc., Ann Arbor MI.
Stol, K., and Bir, G., 2000, “Validation of a Symbolic Wind Turbine Structural Dynamics Model,” Proc. of 19th ASME Wind Energy Symp., Reno NV, pp. 41–48.
Stol, K., Bir, G., and Balas, M., 1999, “Linearized Dynamics and Operating Modes of a Simple Wind Turbine Model,” Proc. of 18th ASME Wind Energy Symp., Reno NV, pp. 135–142.
Bir, G., and Stol, K., 2000, “Modal Analysis of a Teetered-Rotor Wind Turbine using the Floquet Approach,” Proc. of 19th ASME Wind Energy Symp., Reno NV, pp. 23–33.
Stol, K., Rigney, B., and Balas, M., 2000, “Disturbance Accommodating Control of a Variable-Speed Turbine using a Symbolic Dynamics Structural Model,” Proc. of 19th ASME Wind Energy Symp., Reno NV, pp. 84–90.
Hansen, A. C., 1996, Users Guide to the Wind Turbine Dynamics Computer Programs YawDyn and AeroDyn for ADAMS, Mech. Eng. Dept., Univ. of Utah, Salt Lake City UT.
Bittanti, S., Laub, A.J., and Willems, J.C. (eds.), 1991, The Riccati Equation, Springer Verlag, Berlin, pp. 127–162.
McKillip, R., 1984, “Periodic Control of the Individual-Blade-Control Helicopter Rotor,” Ph.D. thesis, MIT, Cambridge MA.
Jensen, K. E., Fahroo, F., and Ross, I. M. 1998, “Application of Optimal Periodic Control Theory to the Orbit Reboost Problem,” Proc. of AAS/AIAASpace Flight Mechanics Meeting, Univelt, Inc., San Diego CA, pp. 935–945.
Ekelund,  T., 2000, “Yaw Control for Reduction of Structural Dynamic Loads in Wind Turbines,” J. Wind. Eng. Ind. Aerodyn., 85, pp. 241–262.
Johnson, W. J., 1980, Helicopter Theory, Princeton University Press, Princeton NJ, pp. 369–377.
Kwakernaak, H., and Sivan, R., 1972, Linear Optimal Control Systems, Wiley Interscience, New York NY.
International Electrotechnical Commission (TC88), 1999, “Wind Turbine Generator Systems—Part 1: Safety Requirements,” 2nd Ed. IEC 61400-1. Geneva.

Figures

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SymDyn wind turbine model showing degrees-of-freedom and geometric parameters
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Tower fore-aft angle variation in the periodic trim solution (mean shown dashed)
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Yaw angle variation in the periodic trim solution (mean shown dashed)
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Blade #1 flap variation in the periodic trim solution (mean shown dashed)
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Rotor speed variation in the periodic trim solution (mean shown dashed)
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Modal Variation Test for Model 1 (with yaw degree of freedom)
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Modal Variation Test for Model 2 (with tower degree of freedom)
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Combined mean+gust wind speed data from the IEC EOG-1 yr standard (at hub-height)
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Combined mean+gust wind speed for the sampled wind case (at hub-height)
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Rotor speed open-loop response to the EOG wind case
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Rotor speed open-loop response to the sampled wind case
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Rotor speed closed-loop response for both controllers (EOG wind, Q0=100)
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Rotor speed closed-loop response for both controllers (sampled wind, Q0=100)
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Blade pitch control input for both controllers (EOG wind, Q0=1000)
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Blade pitch control input for both controllers (sampled wind, Q0=1000)

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