FUZZY LOGIC CONTROL OF A VARIABLE SPEED, VARIABLE PITCH WIND TURBEVE

M. Perales, J. Ptrez, F. Barrero, J. L. Mora, E. GalvBn, J. M. Carrasco, L.G. Franquelo.

D. de la Cruz", L. Fernandez", A. Zazo"
Grupo dc Tecnologia Electrhica, Departamento de Ingeneiria Electronica.ES1de la Universidad de Sevilla. Avda. Camino de 10s Descubrimentos S/N, 4 I092 SEVILLA. Tlf: 4487368, Fax: 4463 153. e-mail: galvan@gte.esi.us.es
(*) Desarrollos Eolicos S. A. Avda. de la Buhaira S/N. SEVILLA Tlf: 4937000. e-mail: Inifernandez@d-eolicos.abengoa.com

Abstract
I r i this p q i e r is n sxstenr irserl to ei'nlirate n i~rrinble speed ntrd pitch nngle wirrd nirbiiie 6) firzzy logic tecliniques i s described. A firzzy logic corrtrol hos been proposed based or1 the speed iviird estinintioir irr order to get r?ioxiniurri power mid strrbility of the system. A l l k W prototype system rrsirrg 111'0 inverter corinecred 6y n DC-Link cnpncitor /ins beeir used: thefirst orie works ns n coritrolled rectifier Biiplenierrtiirg vector control niid the secotid one /inridles the power- iriyected bit0 the utility grid. Experirneiiml result o f n I IKW gerierotor will be s1ioiv11.

I. Introduction
Many horizontal axes, grid-connected, medium to large scale wind turbines are regulated by pitch control and most o f wind turbines so far built have practically constant speed, since they use an AC generator, directly connected to the distribution grid, which determines i t s speed of rotation. In the last years, variable speed control has been added to pitch-angle controlled design in order to improve the performance of the system ([11-[41). Variable speed operation of a wind turbine has important advantages versus constant speed ones. The reduction of electric power fluctuations by changes in kinetic energy of the rotor, the potential reduction of stress loads on the blades and the mechanical

transmissions and the possibility to tune the turbine to local conditions by adjusting thc control parameters are main advantages o f variable speed wind turbine. On the other hand, variable speed control i s normally used with fix pitch angle and very few works using both controls have been reported. Objective for variable speed control system are sumarized by the following general goals: to regulate and smooth the power generated, to maximize the energy capture, to alleviate the transient loads throughout the wind turbine, unity power factor in the line side with no harmonics current injection, to reduce the machine rotor flux at light load reducing core losses. Objectives for the pitch--angle control are similar to the variable speed ones but only can be match a maximum in energy capture, which will be minor than variable speed. I f pitch angle control i s used together with variable velocity, better performances are obtained. For example, to permit the starting blades angle to differ from the operation blade pitch angle, hence allowing easier starting and optimum running, power and speed can be limited through rotor pitch regulation.

11. Control Strategies

In order to control the induction generator, two inverter connected by a DC--Link capacitor have been used. The first one works as a controlled rectifier and the second one handles the power in,jected into the

0-7803-5735-3/99/$10.00 01999 IEEE

614

utility grid (ligure I ). The control ol the induction generator can he divided in three parts: induction generator control, power injected into the utility grid control and fuzzy power control.

A. Induction Generator Control Block.

This control is based on the well known indirect vector method. The rotor speed is added to slip speed to ohtain the synchronous speed on the reference frames.

Puhlic Grid

380V
tine

.....................

......................

Figure 1. Variable speed Power circuit.

can

In that relerence frame, the torque and flux control he perlornied controlling the stator current

...

........

components,

Id,and I,, .

respectively. in those axes. A

Space Vector technique is used to control the induction generator current. This current control has been implemented in a static Ieference liame. The control block diagram is represented in
~

I
Figure 3. Public Grid current injection Block Diagram.

B. Control of the Power Injected to the Public Grid.

The DC-link capacitor voltage must he controlled to maintain a constant reference voltage. This is performed, injecting in the public grid the active power delivered by the induction generator. The control block diagram is represented in Figure 3. A space vector technique is also used to control the current injected into the utility grid. In [his case, the current has heen implemented in a stationary reference frame.

Figure 2. Indirect Vector Control Method Block Diagram.

C. Fuzzy Power Control Block:

The power control block implements different

615

i-3
Gcnrmio

In this control i t i s very important to use an antiwindow reset (the integral term i s reseted during the transitions to other control zone).

Controller f, : Constant power control.

This action i s only taken into account in a region below 1500 rpm. I n this region the output is calculated by the following expression:

Figure 4. Fuzzy and vector Control. control policies depending on rotor speed and generates a current torque control action I # l proportional , to the machine torque. I n this case, several low l ~ v e regulators l are used. Such control loops are: Over 1500 rpm, the flux component, I,, will he changed in a similar form.

Controller f,: Maximum speed control.

Actually this controller is a limiter. The action,

I,,

Controller f , : Zero power control.

The control action is:

force to the speed to decrease. I o , i s calculate in this form:

=0 .

Io, = -K, . .W I
Each control loop listed before is responsible for maintaining its set point, and the output o f each controller,

Controller f?: Maximum power control.

This i s a more complex controller. We calculate the optimal velocity for niaxiiiiuin power capture. The commanded velocity,wuc,, , is obtained using a model of the wind turbine in order to estimate the wind speed. I t is well known that rotor speed Iiiust be proportional to tlie wind speed in a niaxitiiuni o f the power captured. The ratio for both speeds i s defined like /z = -,
is the turbine radius,

I,, ,Iyz ,I o z ,Iqlwill be differenl

for each other.

To combine all control policies, a fuzzy logic based control, similar to the controller proposed by Sugeno and Takagi [7],has been presented in this paper. The fuzzy system acts as a supervisor which combines all outputs actions, depending on the rotor speed,bVr. The membership functions for rotor speed are shown in Figure 5.
Mernbeiship functions for Velocity

Rw,
Vtr

where R

w,is

the turbine rotor speed

and V,Kis the wind speed. For the wind turbine used in the experiments the optimal value f o r L is

I",,,,,= 4.7
(I

Finally, the commanded generator speed can be obtained by the following expression:

w,=0.?0 j -

..m
1 '
SMALL MEDIUM LARGE VERY LARGE
.....................................................

:......................

..;..

.........................

700

12Sq

1750

Where p i s the ratio o f generator speed and turbine rotor speed and the wind speed, v,r, i s obtained from a static inverse model o f the wind turbine which uses the torque and the rotor speed as input.
wr= I580

WI-

Figure 5. Membership function for rotor Velocity. Rule based inference process and defuzzyfication are listed in Figure 6.

i s tlie output of the speed The control action, IiI2

control and i t can hc obtained hy a PI controller:

616

If WI is SMALL. then
If Wr is MEDIUM. then

I.,

is 1 ; is 1:

If Wr i s LARGE. ihrn 1, i s .It

If Wr i s VERY LARGE. tlirn

I.,

is

1 ,

'I

Figure 6. Inference and defuzzytication process.

III.Experimenta1 results
Figure 7 shows power and control systems of the test-rig used to evaluate the proposed control. In that figure, two subsystems can be found: the DC motor and the AC generator control. The DC motor is used to emulate the wind turbine and is controlled by a commercial full bridge rectifier impleniented by thyristors, with a control system based on a microcomputer.
... c, +.' . . . .

-1

Figure 8. Photography oi the test rig.

Tlie DC motor is torque controlled in order to emulate the wind turhine including the pitch control, large inertia term and mechanics oscillations. Figure 9 shows oscillograms of the injected current in the public grid in ooininal condition and the generator
(.IIIT?"t~

..

~~

Figure 7. Power control system implementation in the test rig. In Figure I is shown the power control system implementation. There are two subsystems: The DC motor subsystem and the AC generator suhsystem. The overall system is governed by a personal computer, which includes the control board based on a DSP and the software used to eniulate the wind turbine. A photograph of the test rig used in the experiments is shown in.

Figure 9. Current injected into the public grid (channel I ) and the generator current (channel 2) in nominal conditions (IS00rpin 380 V). Channel I IOMdiv. channel 2 SA/div and IOmddiv.

in order to evaluate the overall system, a wind data tile between 6 and l 4 d s has been used, which is shown in Figure IO. Using this waveform, we can get easily the transitions between zones.

617

snioth torque depending on the wind speed have been implemented by a new furzy controller which combines all these factors and calculates the current torque reference. An inverse model of the wind turbine has been used to estiniate the wind speed and to obtain the optimal speed reference. Experimental results have been shown confirming the validity of the proposed control method.

ACKNOWLEDGMENT
This work has been supported by the First User Program (FUSE) included in the ESPRIT project, entitled "DSP-Based control for variable speed wind turbine" experiment number 2063, CICYT (TAP-960371) and Desarrollos Edlicos S . A.

Figure IO. Wind waveform used in the experiments. In Figure I I is sliown the evolution of the generator during the experiments. The upper graph shows the generator speed and below it can he observed the tip speed ratio ( 1 ).

Bibliography
[ I ] R. David Richardson and Gerald M. McNerney, "Wind Energy Systems", Pruccefliiig qfIEEE. VOL. 81, NO. 3. March 1993. [2]. M. Godoy Simoes, Bimal K. Bose. "Fuzzy Logic Based Intelligent control of a Variable Speed Cage Machine Wind Generation System". IEEE, 1995. [3]. Torbjonrn Thiringer and Jan Linders. "Control by Rotor Speed of a Foxed--Pitch Wind Turbine Operating i n a Wide Speed Range". IEEUPES Bennre~ Meeririg. Seattle. 1992. [4]. A. D. Simmons, L.L. Freris and J. A. M. Bleijs, "Comparison of Energy Capture and Structural linplcinentations of Various Policies of Controlling Wind Turbines". Wind Energy: Teclriiology ond l,,i/~leiiieiiruriuii (Amsterdam EWECPI). [SI. Donald S. Zinger. Eduard Muljadi. "Annualized Wind Energy Improvement Using Variable Speeds". IEEE Trmrsocrions 0 , s 1,rdirsn:v Applimriom, VOL. 33. NO. 6, NovDec 1997, pp. 14441447. [ 6 ] .F. Barrero, J.L. Mora, M.Perales, A. Marchante, E.Galvin, J.M Carrasco. A. Torralba and L.G. Franquelo. "A Test-Rig to evaluate a Wind Turbine Generation Control System based on D S P . EPE'97. Trondheim, Norway. pp. 2.642-2.64s. [7] Sugeno, M. "An Introductory Survey of Fuzzy Control". /ufu,rrinriu,i Sciefices. 36( 1985). pp. S9-83.

!:::-==
$
500

'0

10

15

20

21
Tlempo I S ,

30

35

40

45

50

Figure 11. Generator Rotor Spezd (upper graph) and tip speed ratio measured (continuous line) lip speed ratio estimated (dashed line). The optimal value /i is 4.7 ond the wind turbine is force to work with that value during the test. It can be observed a good estiiiiiltion.

1V.Conclusion.s
A control system based on a DSP has been used in this paper in order to cvaluate $omc control policies for wind-energy conversion systems. The generator control has been implementcd using a vecior control niethod. The different control policies, niilxmiuiii power capture and

618