A blade-pitch controller for a large wind turbine generator in the presence of time-varying delay and polytopic uncertainty

Document Type : Research Article

Authors

1 Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Irany

2 Department of Electrical Engineering, Shiraz University, Shiraz, Iran

Abstract

A pitch-regulated wind turbine has an exclusive pitch activator for every single blade, and it is possible to send various pitch angle demands to each blade. They possess a controller to perform this task, and the problem of delay-dependent robust stability with polytopic-type uncertainties of these time-varying delay systems must be resolved. This paper deals with the dynamic output feedback robust stabilization of the large wind turbine generator in the presence of time-varying delay and polytopic uncertainty. Two critical assumptions are considered for the turbine model involving the model's parameters are uncertain, and the blade-pitch control input actuates by a time-varying unknown delay parameter. A set of intervals is considered for the uncertain and delay parameters, which are assumed to be given and known. Then, a novel algorithm is proposed to design a proper controller for this system based on the Lyapunov-Krasovskii functional approach. The proposed controller simultaneously compensates for the effects of both delay parameters and uncertain parameters. To validate the results in this study, two simulation examples are proposed considering different turbines to compare the performance of the designed controller with previously designed controllers. The results reveal the superiority of the proposed controller compared to the existing controller.

Keywords

Main Subjects


[1] Joselin Herberta GM, Iniyanb S, Sreevalsanc E, Rajapandian S. A review of wind energy technologies. Renew Sust Energy Rev 2007;11:1117–45.
[2] Shashikanth Suryanarayanan, Amit Dixit. On the dynamics of the pitch control loop in horizontal-axis large wind turbines, 2005 American Control Conference, Portland, OR, USA, June 8–10, 2005. p. 686–90.
[3] Jaucha Clemens, Islamb Syed M, Sensena Poul, Jensenc Birgitte Bak. Design of a wind turbine pitch angle controller for power system stabilization. Renew Energy 2007;32:2334–49.
[4] Muhando EB, Senjyu T, Yona A, Kinjo H, Funabashi T. Disturbance rejection by dual pitch control and self-tuning regulator for wind turbine generator parametric uncertainty compensation. IET Control Theory Appl 2007;1:1431–40.
[5] Tan Nusret, Kaya Ibrahim, Yeroglu Celaleddin, Atherton Derek P. Computation of stabilizing PI and PID controllers using the stability boundary locus. Energy Convers Manage 2006;47:3045–58.
[6] Wen Tan. Tuning of PID load frequency controller for power systems. Energy Convers Manage 2009;50:1465–72.
[7] Aström KJ, Hägglund T. The future of PID control. Control Eng Pract 2001;9:1163–75.
[8] Ziegler JG, Nichols NB. Optimum settings for automatic controllers. Trans ASME 1942;64:759–68.
[9] Aström KJ, Hägglund T, Hang CC, Ho WK. Automatic tuning and adaptation for PID controllers – a survey. Control Eng Pract 1993;1:699–714.
[10] Xing Zuo-xia, Zheng Qiong-lin, Yao Xing-jia, Wang Fa-da. PID control in adjustable pitch wind turbine system based on BP neural network. J Shenyang Univ Technol 2006;28:681–5.
[11] Guan JT. The control technology of mechanical electrical and hydraulic [M]. Shanghai: Tongji University Press; 2003.
[12] Wang, J., Tse, N. and Gao, Z., 2011. Synthesis on PI-based pitch controller of large wind turbines generator. Energy conversion and management52(2), pp.1288-1294.
[13] Lee, T.H., Park, J.H. and Xu, S., 2017. Relaxed conditions for stability of time-varying delay systems. Automatica75, pp.11-15.
[14] Zeng, H.B., He, Y., Wu, M. and She, J.H., 2015. Free-Matrix-Based Integral Inequality for Stability Analysis of Systems With Time-Varying Delay. IEEE Trans. Automat. Contr.60(10), pp.2768-2772.
[15] Zuo, Z., Ho, D.W. and Wang, Y., 2010. Reachable set bounding for delayed systems with polytopic uncertainties: the maximal Lyapunov–Krasovskii functional approach. Automatica46(5), pp.949-952.
[16] Kim, J.H., 2008. Improved ellipsoidal bound of reachable sets for time-delayed linear systems with disturbances. Automatica44(11), pp.2940-2943.
[17] Park, P., Ko, J.W. and Jeong, C., 2011. Reciprocally convex approach to stability of systems with time-varying delays. Automatica47(1), pp.235-238.